In this article, a new concept of two-dimensional modular deployable truss structure is proposed. To eliminate additional needs of containment mechanism, the proposed deployable structure is designed to have bistable characteristics so that it can stay robust both in the stowed and deployed states. The deployment of each module is triggered by the actuation of shape memory alloys. Static and dynamic models of the proposed deployable structure are established to analyze the characteristics and behavior of the system. The packaging ratio of the proposed structure is analyzed in terms of the design parameters. The results of static and packaging efficiency analysis show that the proposed concept has operational flexibility and high packaging efficiency. Verification of the dynamic model is performed based on a comparison of the response of the dynamic model and the actual deployment process of an experimental model; the deployment process is captured using a stereo pattern recognition camera system. It is shown that the established dynamic model can accurately describe the deployment behavior of the proposed structure.