The invention relates to a smart maneuver control error compensation method for a spacecraft in consideration of time delay characteristics, and belongs to the field of spacecraft attitude control. The method comprises the steps of firstly, identifying parameters such as output delay of an execution mechanism of the spacecraft and measurement delay of a sensor; and secondly, designing a lead moment compensation method for the spacecraft target attitude to compensate the spacecraft attitude fluctuation caused by the time-delay characteristics of a control system. On this basis, through the closed-loop simulation of spacecraft attitude control, the compensation method of time-delay characteristics is compensated, the attitude fluctuation during the fast maneuver process of the spacecraft isreduced, and the rapid maneuverability and rapid stability of the spacecraft are implemented; and the correctness and advancement of the designed method are verified through the simulation results.