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For the high-dimensional heterogeneous UAV (Unmanned Aerial Vehicle, UAV)/UGV (Unmanned Ground Vehicle, UGV) hybrid formation control system with the communication delay, the sufficient and necessary conditions for system stability and the accurate calculation method of delay boundary are studied. Specifically, in order to deal with the differences between the UAV/UGV workspace and the kinematics models, a UAV/UGV hybrid formation model with heterogeneous characteristics is established. For UAV and UGV groups, an information consensus based distributed controllers are designed respectively. Using the similar transformation of matrix, the high-dimensional heterogeneous UAV/UGV hybrid formation control system is split into several equivalent low-dimensional subsystems, which greatly reduces the analytical difficulty and computational complexity of stability analysis. On this basis, the auxiliary characteristic function method is used to derive the accurate time delay boundary, and the necessary and sufficient conditions for system stability are obtained. Finally, the effectiveness of proposed stability analysis is verified by simulations.