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With the development of integrated electronic technology, unmanned aerial vehicle (UAV) has been widely concerned and applied. High response speed, coupling dynamics and nonlinearities of Unmanned earial vehicles makes the attitude control a significant technology. In view of this research direction,this paper proposes a feedback linearization control scheme based on backstepping technology design for attitude tracking control of UAV in the presence of disturbances. In the proposed control design scheme, the back stepping technology is designed to split the simplified model and feedback linearization to reduce the adjustment parameters. Meanwhile,the extended state observer (ESO) is adopted to estimate and compensate for the disturbances. At the same time, the convergence of ESO and the stability of closed-loop system are given to prove the feasibility of the method Then the convergence of ESO and stability of closed-loop system are presented. Finally, simulation results are given to illustrate the effectiveness of the proposed method.