In order to realize stable attitude control of the quadrotor, a robust adaptive control method was proposed to solve the problems of nonlinearity and being easily influenced by the external environment. First of all, the dynamic model was established by analyzing the working principle of the quadrotor. Besides, upon the linear model, attitude controllers were designed based on optimal robustness servo control method. Additionally, model reference adaptive control method was applied to design the adaptive compensator for eliminating the influence of system uncertainty. Finally, the simulation results were presented to prove that robust adaptive controllers achieved stable control in complex environment and had accurate command tracking performance and strong robustness.