Underwater communication is essential for various applications, including oceanographic research, environmental monitoring, and underwater robotics. Traditional communication systems, such as acoustic and optical methods, face significant challenges in the underwater environment, including signal attenuation, multipath propagation, and environmental disturbances. This paper proposes a bio-inspired electric field communication system, drawing inspiration from weakly electric fish, to overcome these limitations. The system uses amplitude-shift keying (ASK) modulation combined with FPGA-based adaptive circuits to provide a low-power, compact, and stable communication solution for underwater robot swarms. Experimental results conducted in a freshwater environment demonstrate that the system achieves a bit error rate of 0% at a communication distance of 2.4 m. The performance is further optimized with a parallel electrode configuration, reducing power consumption by 40% and shrinking the system’s size by 30% compared to existing solutions. This bio-inspired communication system offers a promising alternative for real- time, adaptive communication in underwater swarm robotics.