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For the hypersonic vehicle nonlinear attitude mode in reentry process unpowered with a strong coupling, aerodynamic parameter perturbations and non-deterministic, a nonlinear attitude control method is put forward. Firstly, the nonlinear dynamic inversion controller is purposed by inner and outer ring according to time-scale separation principle, and using the Sigmoid function to formulate expected input. In the light of weak robustness characteristic by simply using dynamic inverse control, the adaptive controller is proposed based on ESO to compensate parameter perturbation and uncertainty. The simulation under parameter pull off and wind disturbance conditions effective verify the control system’s strong robustness.