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In view of the limitations of the traditional PID control method when controlling the quadrotor UAV, the dynamic response is poor, the anti-interference ability is low, and the quadrotor UAV application that cannot meet the high precision requirements. In this paper, the attitude control of the quadruple UAV is taken as the research object, and its flight controller is designed by using the pseudo derivative feedback (PDF) control strategy to improve the dynamic response performance and anti-interference ability. Based on the mathematical modeling of quadrotor UAV, the PDF control strategy is introduced into the quadrotor attitude control, and the PDF control design method based on the quadrotor UAV object is proposed. The design and dynamic simulation of PID and PDF controller is completed respectively. By comparing and analyzing the simulation results, the PDF control is smaller than the PID attitude controller, and has better robustness and anti-interference ability.