Functional structures with reversible shape-morphing and color-changing capabilities are promising for applications including soft robotics and biomimetic camouflage devices. Despite extensive studies, there are few reports on achieving both reversible shape-switching and color-changing capabilities within one structure. Here, we report a facile and versatile strategy to realize such capabilities spatially programmed liquid crystal elastomer (LCE) structures incorporated with thermochromic dyes. By coupling the shape-changing behavior of LCEs resulting from the nematic-to-isotropic transition of liquid crystals with the color-changing thermochromic dyes, 3D thermochromic LCE structures change their shapes and colors simultaneously, which are controlled by the nematic-isotropic transition temperature of LCEs and the critical color-changing temperature of dyes, respectively. Demonstrations, including the simulated blooming process of a resembled flower, the camouflage behavior of a "butterfly"/"chameleon" robot in response to environmental changes, and the underwater camouflage of an "octopus" robot, highlight the reliability of this strategy. Furthermore, integrating micro-ferromagnetic particles into the "octopus" thermochromic LCE robot allows it to respond to thermal-magnetic dual stimuli for "adaptive" motion and diverse biomimetic motion modes, including swimming, rolling, rotating, and crawling, accompanied by color-changing behaviors for camouflage. The reversibly reconfigurable and color-changing thermochromic LCE structures are promising for applications including soft camouflage robots and multifunctional biomimetic devices.