In the field of image watermarking technology, it is very important to balance imperceptibility, robustness and embedding capacity. In order to solve this key problem, this paper proposes a new color image adaptive watermarking scheme based on discrete wavelet transform (DWT), discrete cosine transform (DCT) and singular value decomposition (SVD). In order to improve the security of the watermark, we use Lorenz hyperchaotic mapping to encrypt the watermark image. We adaptively determine the embedding factor by calculating the Bhattacharyya distance between the cover image and the watermark image, and combine the Alpha blending technique to embed the watermark image into the Y component of the YCbCr color space to enhance the imperceptibility of the algorithm. The experimental results show that the average PSNR of our scheme is 45.9382 dB, and the SSIM is 0.9986. Through a large number of experimental results and comparative analysis, it shows that the scheme has good imperceptibility and robustness, indicating that we have achieved a good balance between imperceptibility, robustness and embedding capacity.