This article presents a hierarchical origami-based metastructure with adaptive shape-morphing capabilities. The structure is designed to transform into a vast number of volumetric shapes using a minimal number of actuation degrees of freedom. The hierarchical construction method is based on polyhedrons, enabling the creation of a wide range of compact origami metastructures. The structure can autonomously adapt to over 10^3 versatile architectural configurations using fewer than 3 actuation degrees of freedom and simple transition kinematics. Theoretical models reveal the fundamental principles governing these shape transformations. The structure has potential applications in autonomous robotic transformers, self-deployable and self-reconfigurable architecture, and multi-task reconfigurable space robots and habitats. The versatility of shape-morphing is crucial for enabling multifunctionality in both biological and artificial systems. Various strategies have been proposed for shape morphing in metamaterials and robotics, but few have achieved seamless transformation into multiple volumetric shapes post-fabrication with a simple actuation and control mechanism. The hierarchical origami structure is inspired by thick origami and natural hierarchies. It uses spatial closed-loop mechanisms interconnected both locally and globally at each hierarchical level to address the versatility-actuation tradeoff. The structure can be actuated and controlled efficiently to achieve a wealth of versatile morphed shapes through simple reconfiguration kinematics with low actuation DOF. The hierarchical origami structure is composed of rigid linkages and rotational hinges, with polyhedrons such as cubes and prisms used as rigid links. The structure can be transformed into over 10^3 different configurations through combinatorial folding. The structure's hierarchical design allows for a vast design space by orchestrating combinatorial folding both within and across each hierarchical level. The structure's hierarchical architecture introduces intricate geometric constraints that dramatically reduce the number of active DOFs required for shape morphing, even with a large number of structural elements. The structure's hierarchical design offers several advantages over previous designs, including a broader range of designs, avoidance of geometric frustration, and the ability to apply the design to various shaped building blocks. The structure's hierarchical design also provides intrinsic benefits such as higher-level structures with greater diversity and quantity of actuated reconfigured shapes under simple control and actuation. The structure's hierarchical design enables high reconfiguration and actuation efficiency, simple kinematics and control, high reprogrammability, a large number of achievable shapes, and potential multi-functionality. The structure's hierarchical design allows for continuous evolving versatile shape morphing, with the ability to transform into various complex architectures along multiple reconfiguration paths. The structure's hierarchical design also enables simple transition kinematics during shape morphing, with the ability to transform from simple chain-like structures to complex architectures with internal structural loops. The structure's hierarchical design allows for autonomous multigait robotic transformers with adaptive locomotion, rapidly deployable self-reconfigurable architectures, and multifunctional space robots. The structure's hierarchicalThis article presents a hierarchical origami-based metastructure with adaptive shape-morphing capabilities. The structure is designed to transform into a vast number of volumetric shapes using a minimal number of actuation degrees of freedom. The hierarchical construction method is based on polyhedrons, enabling the creation of a wide range of compact origami metastructures. The structure can autonomously adapt to over 10^3 versatile architectural configurations using fewer than 3 actuation degrees of freedom and simple transition kinematics. Theoretical models reveal the fundamental principles governing these shape transformations. The structure has potential applications in autonomous robotic transformers, self-deployable and self-reconfigurable architecture, and multi-task reconfigurable space robots and habitats. The versatility of shape-morphing is crucial for enabling multifunctionality in both biological and artificial systems. Various strategies have been proposed for shape morphing in metamaterials and robotics, but few have achieved seamless transformation into multiple volumetric shapes post-fabrication with a simple actuation and control mechanism. The hierarchical origami structure is inspired by thick origami and natural hierarchies. It uses spatial closed-loop mechanisms interconnected both locally and globally at each hierarchical level to address the versatility-actuation tradeoff. The structure can be actuated and controlled efficiently to achieve a wealth of versatile morphed shapes through simple reconfiguration kinematics with low actuation DOF. The hierarchical origami structure is composed of rigid linkages and rotational hinges, with polyhedrons such as cubes and prisms used as rigid links. The structure can be transformed into over 10^3 different configurations through combinatorial folding. The structure's hierarchical design allows for a vast design space by orchestrating combinatorial folding both within and across each hierarchical level. The structure's hierarchical architecture introduces intricate geometric constraints that dramatically reduce the number of active DOFs required for shape morphing, even with a large number of structural elements. The structure's hierarchical design offers several advantages over previous designs, including a broader range of designs, avoidance of geometric frustration, and the ability to apply the design to various shaped building blocks. The structure's hierarchical design also provides intrinsic benefits such as higher-level structures with greater diversity and quantity of actuated reconfigured shapes under simple control and actuation. The structure's hierarchical design enables high reconfiguration and actuation efficiency, simple kinematics and control, high reprogrammability, a large number of achievable shapes, and potential multi-functionality. The structure's hierarchical design allows for continuous evolving versatile shape morphing, with the ability to transform into various complex architectures along multiple reconfiguration paths. The structure's hierarchical design also enables simple transition kinematics during shape morphing, with the ability to transform from simple chain-like structures to complex architectures with internal structural loops. The structure's hierarchical design allows for autonomous multigait robotic transformers with adaptive locomotion, rapidly deployable self-reconfigurable architectures, and multifunctional space robots. The structure's hierarchical