<p>With the widespread application of multiple unmanned aerial vehicles (UAVs) in efficient missions such as complex environmental monitoring and emergency rescue operations, the significance of high-precision attitude control has become increasingly prominent. This paper attempts to investigate the prescribed-time composite adaptive fuzzy attitude control problem for nonlinear multiple six-rotor UAVs. Different from existing prescribed-time control methods, an improved prescribed-time stability lemma is proposed, which further improves the convergence rate while avoiding the singularity problem at the user-defined time, thereby enhancing the transient response performance of six-rotor UAVs. Furthermore, a novel prescribed-time serial-parallel estimation model is designed to improve the approximation accuracy of unknown functions, thus enabling six-rotor UAVs to quickly adjust their attitudes in the face of uncertainties. It can be proved that all signals of the system are bounded within the prescribed time. Finally, the effectiveness of the proposed control strategy is confirmed through some simulation results.</p>