The invention discloses a four-rotor unmanned aerial vehicle state constraint control method. The method comprises steps: 1) the position information, the velocity information, the attitude information and the angular velocity information of the unmanned aerial vehicle at a t moment are acquired; 2) according to an ideal trajectory, the position tracking error and the velocity tracking error at the t moment are calculated, and a position intermediate control law F at a t+1 moment is thus designed; 3) according to the position intermediate control law F at the t+1 moment, control lift T at the t+1 moment is designed; 4) according to the control lift T at the t+1 moment, the ideal attitude and the ideal angular velocity of the unmanned aerial vehicle at the t+1 moment are calculated; 5) according to the ideal attitude and the ideal angular velocity, the attitude error and the angular velocity error are calculated; and 6) an attitude intermediate control law beta at the t+1 moment is designed, the control torque gamma at the t+1 moment is thus designed, and thus, the unmanned aerial vehicle can reach the ideal attitude and the ideal angular velocity at the t+1 moment. The method uses unit quaternions to describe the attitude of the unmanned aerial vehicle, the calculation efficiency is improved, and the control precision is improved.