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As the inertial sensor can not get the location information,the Quadrotor visual servo control technology based on the ADRC overcomes the shortcoming which improve the flexibility of the Quadrotor and can be able to do more complex tasks. This paper is focused on the problems of Quadrotor visual servo control in order to improve the technology. In order to accurately get visual feedback information, the MeanShift method has been selected to achieve target tracking, then we can get the relative position between the Quadrotor and the target in the world coordinates through the triangle rule. Last,the horizontal controller and attitude controller were designed by used the ADRC. The simulation analysis and experimental results show that the designed visual servo control system can track target accurate and implement high precision positioning, in the meantime the control system has strong robust, small tracking errors and could complete visual servo control task very effectively.