In order to solve the problem of cooperative formation flight of combat aircraft in military confrontation training, a cooperative formation flight design method for multi-UAVs is proposed. Using the integrated method of individual path tracking control and group centralized control, the architecture of multi-UAVs cooperative formation flight is designed, the relative motion relationship model between multi-UAVs is established, and the flight implementation control strategy is given. The simulation example verifies the effectiveness of multi-UAVs cooperative formation control. The simulation results show that the cooperative formation control method of multi-UAVs can track the pilot tracks randomly and effectively solve the formation control in 3D space.