The invention relates to an attitude control method of a rotorcraft, which is used for controlling a pitch angle, a roll angle and a yaw angle of the rotorcraft, establishing a kinetic model of the attitude angle of the rotorcraft, estimating unknown parameters in the kinetic model in real time by using an adaptive method, compensating the uncertainty of the kinetic model, improving the robustnessof the control system by using a robustness method, and enhancing the anti-interference capability. Each attitude angle system is a second-order system, a backstepping method is adopted for derivation, derivation is sequentially carried out from the first order, a self-adaptive robust method is adopted for solving a result of each order, and finally the control law of the attitude angle is obtained. According to the method, the attitude angle is controlled by adopting a self-adaptive robust method, control parameters do not need to be accurately set like PID control (proportional-integral-derivative control), only the control parameters need to be large enough within a certain range, and parameter adjustment is simpler and more convenient; the requirement for the accuracy of the model isnot high, unknown parameters can be accurately estimated, and the tracking accuracy of expected signals is improved.