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Aiming at the coordination control problem of AUVs formation without a pilot, this paper proposes a consensus method for different time-varying communication delay. Firstly, considering the problem that the underwater communication between AUVs is interrupted due to time delay or data loss, the nonlinear coupling term in the AUV mathematical model is processed by the state feedback linearization theory to convert it into a dual integrator dynamic model. Secondly, the position and velocity dual-independent topology are designed to reduce the amount of data in each packet sent between the formation members for different delay communication situations. Finally, the multi-AUV stability condition is proposed; and then the multi-AUV formation control problem is regarded as the consistency problem.Based on the Laypunov-Razumikhin theorem, the formation coordination control system has been proved to be stable. The control method can not only overcome the influence of different time delay and data loss on the formation, so that all AUVs starting at random positions and speeds can reach the same state, but also suppress external interference. The simulation results are consistent with the theoretical results of the proposed control method.