<p>This article addresses the challenge of designing adaptive prescribed-time cooperative security control for nonlinear vehicle platoon systems under false data injection (FDI) attacks. A time-domain mapping technique is introduced to convert the prescribed-time control problem in a finite time domain into an asymptotic tracking control in an infinite time domain. These designs adopt an approximator to identify unknown nonlinear dynamics. Furthermore, the mathematical expectation method is employed to tackle the FDI attack signals. Building on this approach, an adaptive prescribed-time cooperative security control strategy is developed by integrating vehicle-to-vehicle communication topology with the backstepping technique. This strategy guarantees that all signals in the vehicular platoon system remain bounded within the prescribed time and, through Lyapunov stability theory and Barbalat’s lemma, ensures that the tracking errors asymptotically converge to zero. Through the prescribed performance function, the tracking and virtual errors asymptotically converge to a preset region within the prescribed time. Moreover, the position, velocity, and acceleration of each following vehicle can be tracked from those of the leading vehicle. Ultimately, the simulation results are presented to demonstrate the viability and effectiveness of the proposed control scheme.</p>