The invention discloses a no-angular velocity measurement unmanned plane attitude synchronization method based on random time delay and belongs to the unmanned plane attitude synchronization method field. The method comprises steps that 1, attitude dynamics models of n rigid body system groups are established; step 2, a rigid body virtual system dynamics model is established; step 3, torque input is designed, and a state of a corresponding virtual system is tracked by each rigid body under the no-angular velocity measurement condition; and step 4, a virtual angular velocity is determined, and all the virtual systems are made to realize attitude synchronization. The method is advantaged in that no-master and master-slave mode attitude synchronization of the rigid body groups under the no-speed measurement condition can be still realized when time delay or information loss exists during information transmission among the rigid bodies.