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This invention discloses a safety control method and system for unmanned surface vessels (USVs) based on an adaptive neural network observer, relating to the field of USV control technology. The method includes: constructing a second-order dynamic model of the USV using dynamic equations and obtaining its actual position and velocity state; designing an adaptive observer based on a neural network using the approximate nonlinear dynamics of a neural network to estimate the first-order system position state and the second-order system velocity state under DoS attacks and external disturbances; determining the position tracking error between the actual and estimated positions of the USV based on a preset desired trajectory and combining the actual and estimated positions, and constructing a virtual controller; designing a nonlinear filter based on the virtual control signal to obtain the trajectory tracking signal of the second-order velocity system, and then constructing an adaptive controller based on the estimated velocity state; and realizing the desired trajectory tracking of the USV under DoS attacks and disturbances based on the virtual controller and the adaptive controller.