The invention discloses a dynamic modal-split transfer function model for a helicopter, which belongs to the field of modeling and control of unmanned aerial vehicles. The dynamic modal-split transfer function model for the helicopter is characterized by comprising first-order subsystems, second-order subsystems, system gain and equivalent delay. Real zero poles and complex conjugate zero poles of a transfer function are divided into the first-order subsystems and the second-order subsystems by a modal-splitting method; and during the division, the complex conjugate zero poles are first divided into the second-order subsystems, and redundant real zero poles are combined into the second-order subsystems in pairs, so that the whole system consists of not more than two first-order subsystems and a few second-order subsystems, and the dynamic model for the unmanned helicopter can be determined by specifying real roots of the first-order subsystems, the natural frequency and damping ratio of the second-order subsystems, the system gain and the equivalent delay. In the invention, a complex dynamic model for the helicopter is converted into the combination of low-order subsystems dominated by second-order systems and supplemented by first-order systems, and model parameters can be classified and defined into a plurality of relatively more compact and order-irrelative ranges, so that the model parameters can be searched in a concentrated range and the dynamic model for the helicopter can be easily identified by an identification algorithm.