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In order to improve the autonomous navigation ability of Unmanned Surface Vessel (USV) and reduce path error and track delay of path tracking, this paper proposes a hierarchical control structure for the trajectory tracking of unmanned surface vehicle under external wind, wave and current disturbances with model parameters uncertainly. The structure can be divided into three layers from outside to inside. Outermost layer of track control takes transition destination strategy to determine the real-time target position by the cross track distance. Intermediate layer of direction control takes minimum rotation angle strategy to determine the deflection angle by the difference between the heading angle and the given path angle. Innermost layer of rudder angle control designs a fuzzy PID controller to compensate the dynamic changes of model parameters. Under the MATLAB GUI environment a simulation was completed and the results indicate that the fuzzy PID controller increases the response speed of the rudder angle control and the USV have a good path tracking control in linear driving as well as nonlinear driving.