This work aims to develop PEG-free supramolecular nanosystems with excellent stability, rapid stimuli-responsiveness, and precise targeting for therapeutic purposes. The linear polyglycerol (lPG) was used as the hydrophilic segment and the lPG-based amphiphilic copolymers varying the hydrophobic portion, linkage chemistry and pendant functional groups were synthesized. Consequently, diverse supramolecular systems exhibiting different morphology, degradation mechanism and biosensitivity were tailored for on-demand scenarios.