The invention discloses a full-actuating type autonomous underwater vehicle (FAAUV) cooperative control method. The method comprises the following steps that a second-order discrete motion model and a kinetic model of an FAAUV are built firstly; then, due to different positioning errors of each underwater robot navigation positioning device, route information owned by the underwater robot navigation positioning devices is inconsistent; the route information is regarded as virtual pilot information, the virtual pilot information is composed of a series of continuous way points, and a finite time consistency controller combining a finite time control method and consistency is provided for cooperatively controlling the speed and the position of the FAAUV within the finite time; each underwater robot utilizes a tachymeter and a gyroscope for measuring navigational speed and the moving posture of itself, and the virtual pilot information and the speed information of the underwater robots are played on time. According to the control method, actuating control force of different shafts of a plurality of FAAUVs is calculated, and the aim that a plurality of underwater vehicles reach the preset formation shape within the finite time is achieved.