Considering the external disturbances and parametric uncertainties existed in the attitude control of quadrotor Unmanned Aerial Vehicles(UAVs), we proposed an attitude control approach based on RISE.In the approach, a model-based feed-forward control term is used to achieve accurate nonlinear compensation, and a robust integral feedback term to compensate the unknown modeling uncertainty.The proposed controller can achieve stable and high-precision attitude control for quadrotors in presence of parametric uncertainties, external disturbances and noises.Lyapunov analysis reveals that the proposed method can guarantee the tracking errors to converge to the origin with asymptotic tracking performance.The effectiveness and robustness of the proposed method are validated through extensive simulations and comparisons.