The invention discloses an unmanned aerial vehicle wireless charging system, an unmanned aerial vehicle and a wireless charging method thereof. The system comprises a plurality of wireless charging receiving coils connected to an unmanned aerial vehicle frame and a plurality of wireless charging transmitting coils connected to an unmanned aerial vehicle start-stop platform. When the unmanned aerial vehicle frame stops on the unmanned aerial vehicle start-stop platform, the wireless charging receiving coils can be coupled with the wireless charging transmitting coils in a one-to-one correspondence mode; the wireless charging receiving coils are electrically connected in series and form a secondary side resonant circuit with a secondary side resonant capacitor; and the wireless charging transmitting coils are electrically connected in series and form a primary side resonant circuit with a primary side resonant capacitor. On the premise of ensuring the charging efficiency, the mounting size requirement for the coils is reduced, so that coil installation is more convenient, and the structural balance of the unmanned aerial vehicle is more easily guaranteed.