Quadrotor UAV is a research hotspot in recent years, who is widely used in many fields because of its advantages in simple structure and vertical take-off and landing. The control effect of classical control algorithm, such as PID Control algorithm, is not satisfying when the UAV is under disturbance or in a changing condition, the UAV can't be adjusted to equilibrium state when it's under large disturbance. This paper modeled through dynamics and properly simplified it, designed the adaptive control law, and the numerical experiment shows that model reference adaptive control can block out disturbance, verifies that this algorithm is effective.