Boron nanosheets (B NSs) were prepared by coupling thermal oxidation etching and liquid exfoliation technology, and then B-PEG was prepared by modifying B NSs with surfactant (H2N-PEG-NH2). After that, the as-prepared B-PEG was used to produce B-PEG-cRGD composite by using RGD peptide (cRGD) as a monomer, ethylcarbodiimide (EDC) and N-hydroxysuccinimide (NHS) as initiators. Finally, DOX-17AAG@B-PEG-cRGD nano drug-loading complex was obtained by blending B-PEG-cRGD with the drug doxorubicin (DOX) and the heat shock protein inhibitor, allylamino-17-demethoxygeldanamycin (17AAG). The structure and morphology of B NSs and DOX-17AAG@B-PEG-cRGD composite were characterized by transmission electron microscopy (TEM), ultraviolet spectrophotometer, and dynamic light scattering (DLS). The results showed that the hydrodynamic average diameter of materials was 184 nm approximately and well dispersed. The results show that the hydrodynamic average diameter of DOX-17AAG@B-PEG-cRGD complex was 184 nm approximately and has good stability, which improves the defects of easy aggregation of B NSs. The in vitro drug release studies have shown that the complex has near-infrared light (NIR) and pH double responsiveness as well as good drug sustained release effect. When the pH value of the in vitro microenvironment was 5.0 and NIR was present, the cumulative release rates of DOX and 17AAG in 72 h were up to 66.53% and 73.01%.