In order to compensate for parameter uncertainties and disturbances, a quadrotor aircraft speed control method based on Linear Active Disturbance Rejection Control (LADRC) is proposed.Firstly, the dynamic model of the quadrotor aircraft is analyzed.As for the quadrotor aircrafts barycenter in the inertial frame, linear speed of z axis is regulated via the first-order LADRC, and linear speeds of x and y axis are regulated via proportion control and feedforward control.The asymptotic stability of the three axes speed-loop control system is proved via the Lyapunov function.Then, the calculations of the virtual attitude angles are analyzed.The second-order LADRC is adopted to regulate three attitude angles tracking, which proves the stability of the second-order LADRC system.Finally, simulation experiments show that: compared with that of the PD control system, the linear speed tracking of three axes is faster with no overshoot and less tracking errors, and the convergence rates of three attitude angles are faster with less tracking errors.