The fault-tolerant altitude and attitude control of a quadrotor UAV subjected to actuator faults and external disturbances is investigated.Firstly, the actuator faults are modeled as a constant Loss of Effectiveness (LoE) in the thrust generated by the propellers, and the dynamics UAV altitude and attitude models considering the actuator faults are obtained.Secondly, a fault-tolerant controller is designed based on the Integral Terminal Sliding Mode Control (ITSMC), and the disturbances are estimated and compensated for by using the adaptive law.Thirdly, the stability of the closed-loop system is proved by Lyapunov theory.Finally, numerical simulation results verify the effectiveness and robustness of the proposed fault-tolerant control scheme.