The invention provides a spacecraft formation attitude limited time cooperation control method under a complicated constraint condition. The spacecraft formation attitude limited time cooperation control method comprises steps that a formation topological structure is determined, and the current attitude value of the spacecraft formation is acquired; a spacecraft attitude control equation is converted into a system error tracking equation; a system state observer is invoked to estimate the angular speeds and the attitude values of the various members of the spacecraft formation, and then angular speed estimation values and attitude estimation values are acquired; the angular speed estimation values and the attitude estimation values of the members of the adjacent formation are coupled to acquire control slip form variables; the slip form variables are transmitted to a controller, and the controller is used to convert the control slip form variables to control signals according to a preset slip form control algorithm. By adopting the method provided by the invention, the accurate control over the spacecraft formation attitude under the complicated constraint condition is realized.