We investigate the controllability of an origami system composed of Miura-ori cells. Extensive research has been conducted on the folding architecture, kinematic behavior, and actuation techniques of origami structures. However, understanding their transient dynamics and constructing control models remains a formidable task, primarily due to their innate flexibility and compliance. In light of this challenge, we discretize the origami system into a network composed of interconnected particle masses alongside bar and hinge elements. This yields a state-space representation of the system’s dynamics, facilitating the analysis of the system’s controllability properties. Informed by this computational framework, we explore the controllability Gramian-based method to find the most efficient crease lines for the deployment of single and tessellated Miura-ori cells using servo-motor actuators. We demonstrate that the deployment efficiency guided by this theoretical method shows good agreement with the empirical results derived from the control effort in deploying the origami prototypes. This investigation paves the way toward the efficient design and operation of complex actuation systems for origami-based deployable structures.