In order to realize the attitude control of fixed-wing UAVs under the conditions of uncertainties and external disturbances, a control law combining the extended disturbance observer of the nonlinear sliding mode with the fast-response dynamic inversion was designed. On the basis of the design of the extended disturbance observer, an extended disturbance observer of the nonlinear sliding mode was designed by introducing the sliding mode theories, so as to make real-time estimation of the disturbances and their rate of change. The UAV attitude equation was divided into the slow loop of the posture angle and the fast loop of the attitude angular velocity. Then the dynamic inverse control law was designed respectively and the unknown disturbance was compensated based on the disturbance estimation.At the same time, the differential value of the command value estimated by TD (fast Tracking Differentiator) was added to the fast loop controller to improve its response speed. Finally, the stability of the composite controller was proved.The simulation results show that the designed composite controller can control the attitude movement of UAVs efficiently.