To address the problems of interaction mechanism and motion decision in UAV swarm, a distributed UAV swarm method based on velocity coordination and consensus is proposed. UAVs adopt the regionalized fixed number of neighbors (RFNN) interaction mechanism to interact with only a small number of surrounding UAVs, which enables efficient use of neighbor information and effectively avoids the waste of communication resources caused by redundant information. Furthermore, according to the relative position and velocity constraints between the UAV and its neighbors, the velocity coordination quantity is designed as its own desired speed, which solves the UAV control problem in swarm motion and improves the synchronous convergence performance of UAV swarm. Simulation experiments show that the method can coordinate the velocity among UAVs in real time onlythrough local interactions, and achieve orderly swarm motion and swarm velocity tracking.