<p>This paper investigates the distributed formation cooperative control of multiple unmanned surface vehicles (USVs) subject to communication constraint and time-delay. A time-delay event-triggered hierarchical cooperative single-objective estimation and quantized control architecture is proposed. At the communication layer, a time-delay distributed event-triggered extended state observer (ESO) is introduced to estimate the virtual leader’s unknown state information, achieving a delay upper bound that stabilizes the system while mitigating communication resource consumption. At the control layer, a uniform quantizer is employed to quantize the control inputs and state variables, and the Pade approximation method is adopted to alleviate the adverse effects of input delay on the underlying control system. Subsequently, a quantized fuzzy state observer is designed to simultaneously approximate non-differentiable quantized state variables, model uncertainty terms, and unknown external disturbances. Leveraging the estimated information, distributed formation kinematic guidance laws for multiple USVs and quantized dynamic control laws based on a time-varying threshold event-triggered mechanism are developed to achieve accurate tracking of the desired formation trajectory, further reducing the actuator execution frequency and conserving communication resources. The stability of the proposed closed-loop control system is rigorously proven by means of Lyapunov stability theory, and simulation experiments verify the effectiveness of the proposed control strategy.</p>