<p>The majority of extant prescribed-time control methods are efficacious for finite time intervals and are capable of achieving regulation and control in the absence of uncertainty/interference. This article proposes an adaptive prescribed-time fault-tolerant control method (APTFT) for the high-performance control problem of uncertain quadcopter unmanned aerial vehicles (QUAVs) with actuator failures over the infinite time interval. The proposed method is founded on a novel prescribed-time performance function, which is designed to ensure the requirements of the system’s transient steady-state performance are met, whilst enhancing the flexibility of system performance design. Secondly, an adaptive control law is designed to achieve online estimation of actuator fault parameters and enhance the robustness of the system. Furthermore, a prescribed-time extended state observer is designed to achieve accurate observation of unknown disturbances and model uncertainties, thereby reducing the dependence on the model for controller design. Finally, an adaptive prescribed performance controller is designed to ensure the stability and transient state tracking effect of the closed-loop system based on the methods of inner/outer-loop control and backstepping method. The effectiveness and practicality of the algorithm are verified through simulation and experimental comparison results.</p>