The invention discloses an unmanned aerial vehicle control system and method based on air gesture and ultrasonic tactile feedback. The unmanned aerial vehicle control system comprises a somatosensorycontroller, an ultrasonic phased array, an unmanned aerial vehicle main control computer; the unmanned aerial vehicle main control computer captures a gesture picture from different angles in real time through the somatosensory controller and identifies the gesture picture to judge the type of the gesture; the unmanned aerial vehicle main control computer sends a corresponding control instructionaccording to the received gesture type to the unmanned aerial vehicle, the unmanned aerial vehicle main control computer receives success response feedback information, then tactile sensing points determined according to recognized gesture information are sent to the ultrasonic phased array as focal coordinates, the ultrasonic phased array calculates the phase delay of each transducer according tothe focal coordinates, and each transducer is triggered to emit modulated ultrasonic waves to be focused at focal points, so that a user can obtain tactile perception which indicates that the currentgesture task is successfully completed.