The invention provides a vertical take-off and landing unmanned aerial vehicle and a control method thereof. A vehicle body of the unmanned aerial vehicle adopts aerodynamic layout of high lift-drag ratio class flying wings, and four motors and propellers are installed on the vehicle body in a mode of cross-shaped arrangement. An elevating control torque is formed by the thrust difference generated by the upper propeller and the lower propeller of the vehicle body, a yaw control torque is formed by the thrust difference generated by the left propeller and the right propeller of the vehicle body, and through the roll control torque formed by the different rotating speeds of the four propellers, the attitude control of the vehicle body of the unmanned aerial vehicle is conducted so that vertical take-off and landing in a narrow region and spot hover at any positions in the flying process of the unmanned aerial vehicle can be achieved. After the unmanned aerial vehicle is switched into a flat flying state, the vehicle body of the class flying wing layout can generate a large cruise lift-drag ratio, the effective loading level of the unmanned aerial vehicle is greatly improved, and the flying distance of the unmanned aerial vehicle is greatly prolonged. When the unmanned aerial vehicle horizontally flies, propelling can be conducted for low-speed flying only by using the left propeller and the right propeller, and propelling can be conducted for high-speed flying by simultaneously using the four propellers.