Unmanned Aerial Ve hicles (UAVs) are employed in surveillance, reconnaissance, and aerial photography. The dynamics of UAVs is highly nonlinear and inherently coupled. It also tends to vary continuously with time and is subjected to severe external disturbances. Due to this, dynamic and paramet ric uncertainties arise in the mathematical model of the UAVs over different operating conditions. In this paper, a controller is synthesised using Uncertainty and Disturbance Estimation (UDE) method. Simulation results prove the robustness of the designed control strategy against uncertainty and disturbance.