Dielectric elastomer actuators (DEAs) have been applied to the tunable solid lens with the unique characteristics of fast response, low consumption, lightweight, and silent operation. However, the performance of the DEA-based contraction tunable solid lens is limited to the small aperture or tuning range compared to the extension tunable solid lens. In this article, to address this issue, a self-recovery origami mechanism with a modified Yoshimura tessellation structure is presented to improve the contraction-tunable lens driven by the truncated cone-shaped DEA. A model using the virtual work principle and spring in-series theory is established to predict the deformation of the tunable lens, and the experimental result verifies the simulation. The experiment demonstrates that the focal length of the 10-mm-diameter solid lens can vary from 45.4 to 37.7 mm, showing a 17% tunability. Results show that combining origami structure with the unique properties of DEA for a tunable solid lens has the potential to expand its application fields.