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In order to improve the attitude control of AUV with high precision and stability, an attitude controller combining Sparrow Algorithm (SSA) and fuzzy PID control was proposed. The sparrow algorithm is used to optimize the parameters of the fuzzy PID controller, and the optimized model is used for the feedback compensation of the algorithm, which effectively solves the problem that the fuzzy PID control is overly dependent on experience and difficult to cope with complex underwater conditions. The simulation results show that the SSA-fuzzy PID controller shows better response speed and anti-interference ability than the traditional fuzzy PID controller in AUV attitude adjustment, and effectively improves the AUV attitude control performance. After practical application verification, the controller can quickly converge to the desired attitude and maintain stability under complex working conditions.