The invention discloses a foldable variable-structure unmanned aerial vehicle which comprises a fuselage, two pairs of wings rotatably mounted on the fuselage, a front propeller mounted at the head of the fuselage, an empennage mounted at the tail of the fuselage and ducted fans arranged on the wings. The wings can be driven to rotate to be approximately parallel to the fuselage to form a folded state or approximately perpendicular to the fuselage to form an unfolded state or obliquely intersect with the fuselage to form a semi-unfolded state. According to the unmanned aerial vehicle, the landing mode and the flight mode can be switched in a self-adaptive mode according to the terrain, the unmanned aerial vehicle can adapt to complex terrains, stable flight in various application scenes can be achieved, and operation is more flexible; when the wings of the structure are folded, the wings are horizontally stored to the two sides of the aircraft body, and the landing occupied area of the whole aircraft can be greatly reduced; the unmanned aerial vehicle with the structure is relatively simple in structure, lightweight design is favorably realized, energy consumption is reduced, the fuselage size of the unmanned aerial vehicle is favorably reduced, and a high space utilization rate is realized.