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The invention relates to a hierarchical target search and capture method for an unmanned vehicle cluster, comprising: dividing an unmanned vehicle cluster into a plurality of small groups, each of which comprises a guide vehicle and two member vehicles; in a to-be-searched area, the guide vehicle of each small group performs a target search based on its own position; when no target is found, the guide vehicles of each small group respectively perform incremental environmental node exploration and continue to perform target search: storing respective current positions in an explored stack and moving to the latest node position in a corresponding to-be-explored stack to perform target search until the search target is found or the nodes in the respective corresponding to-be-explored stacks are empty; wherein the to-be-explored stack is a storage space for a plurality of traversable node positions obtained by the guide vehicle performing radial node exploration at the target search position; the explored stack is used to store the node positions that have been reached by the guide vehicles of each small group; when a target is found, the guide vehicle of the small group performs motion trajectory prediction on the target; and the three vehicles of the current small group perform triangular encirclement and capture on the target.