An unmanned aerial vehicle (UAV) communication method and device and a UAV are disclosed. The method comprises: acquiring position information of the UAV and position information of a ground station, wherein the ground station and the UAV are communicated wirelessly; determining a distance between the UAV and the ground station according to the position information of the UAV and the position information of the ground station; determining an operating mode of a power amplifier on the UAV according to the distance and a preset distance judgment rule, wherein the distance judgment rule stores correspondences between distance thresholds and operating modes of the power amplifier; and sending a control signal corresponding to the operating mode to the power amplifier, controlling the power amplifier to select a gain parameter threshold corresponding to the operating mode according to the control signal and to perform power amplification of a RF transmitting signal according to the gain parameter threshold; and sending the amplified signal to the ground station.