Abstract: To improve the performance of a quadrotor's attitude estimation under strong maneuverability and high-speed motion, we propose an attitude estimation of motion acceleration restrained with dynamic step gradient descent algorithm. This algorithm restrains motion acceleration under strong maneuverability to remove the adverse effect of motion acceleration to improve the tracking accuracy of the quadrotor's attitude estimation. The algorithm uses dynamic gradient step processing under high-speed movement to make the gradient step proportional to the quadrotor's angle velocity and enhance the dynamic performance of orientation determination. To verify the feasibility and the effectiveness of the proposed algorithm, a quadrotor experimental platform is set up based on the STM32 microcontroller. Real-time online experimental results show that the proposed algorithm has higher estimation accuracy, better dynamic performance, and anti-interference characteristics under strong maneuverability and high-speed motion. Overall, the proposed algorithm ensures the stability of a quadrotor's flight.