This paper proposes a hybrid control algorithm combining a fast continuous non-singular terminal sliding mode control strategy with linear active disturbance rejection control strategy for trajectory tracking control of a quadrotor aircraft with modelling uncertainties and external disturbances.The dynamical model of the quadrotor aircraft is obtained through Newton-Euler equation, and the model is divided into two control loops of an inner loop and an outer loop.The inner loop adopts the fast continuous non-singular terminal sliding mode control to ensure the fast convergence of the attitude.The outer loop uses the linear active disturbance rejection control to reject the external disturbances and realize high-performance trajectory tracking.Meanwhile, the stability of the proposed controller is analyzed.Lastly, the effectiveness of the proposed control strategy is verified by simulation cases and flight tests.The results show that the proposed controller has fast response speed, good robustness, high control accuracy and strong disturbance-rejection ability.It can meet the requirements of quadrotor aircraft trajectory tracking control.