The invention discloses an unmanned aerial vehicle ad hoc network AODV routing improvement method based on speed and energy awareness. According to the method, a cross-layer idea is combined, a link cost concept is provided, an energy residual rate, a relative movement degree and a congestion degree are used as measurement indexes to define link cost, a routing criterion is modified, and a path is selected according to the minimum link cost. Thus, the improved AODV routing protocol with speed energy awareness is designed; in addition, a relay broadcast strategy based on the number of neighbor nodes is proposed, and a probability factor and a random factor are introduced to realize a relay probability hierarchical broadcast function to reduce RREQ broadcast redundancy. Compared with the traditional AODV routing protocol, the protocol improved by the method shortens the end-to-end delay between the nodes, improves the packet delivery rate and reduces the routing discovery frequency. In addition, according to the method, the energy consumption is reduced, the average residual energy of the nodes is increased, the routing overhead is effectively controlled, the overall performance of the network is improved, and the method is more suitable for the topological environment of the unmanned aerial vehicle ad hoc network.