Abstract: This study investigates the attitude control of a quadrotor unmanned aerial vehicle (UAV) class with dead zone and external disturbances. Since the input dead zone is typically located in the actuator of quadrotor UAVs and is easily affected by disturbance, we design a dynamic surface controller using an active disturbance rejection controller (ADRC) for a quadrotor UAV with dead zone and external disturbances. The ADRC algorithm was used to design the extended state observer to estimate the total disturbance of the system. Furthermore, the dynamic surface method was used to design the control law. The designed controller guarantees that the attitude of the quadrotor UAV can track the desired attitude. Finally, simulation results verified the effectiveness of the proposed method.