By exploiting the advanced information and communication technologies, the current community healthcare systems provide digital healthcare services. However, the current healthcare framework for senior citizen in outdoor environment faces new challenges. The traditional healthcare systems are not efficient, and they do not comprise user-friendly devices and interfaces suitable for the elderly in outdoor environment. Hence, in this work, we develop an outdoor healthcare system for community senior citizens based on unmanned aerial vehicle (UAV) and Internet of things (IoT). Our system includes physical devices, wireless and wired networks, cloud and data center, and smart terminals. Further, the analysis of the proposed healthcare architecture is presented from the perspective of different layers, and an algorithm on UAV for creating high-speed communication channel and delivering medicine is provided. In addition, the healthcare UAV, related devices, and friendly APPs are designed. The proposed framework is evaluated by comparison with the current healthcare architecture. The emulating and experimental results show that our proposed system can provide a high-quality wireless communication link even at large communication distances, and in real testbed our proposal can reduce the response time by about 20% in comparison with the current methods.