This research presents a novel solution to improve the performance of UAV motion and posture control using the Internet as a communication medium. By leveraging a ground control station, UAV users can establish flight trajectories and send them directly to the UAV via the Internet. Furthermore, users can directly control the UAV’s posture and actuators to execute tasks within a confined area. The prevailing approach often involves utilizing an intermediary Cloud Server to transmit and receive data and control commands between the UAV and the ground control station. However, experimental results indicate that the execution of control commands on the UAV experiences significant delays compared to the action of ground station control commands. To address this issue, this study proposes a solution to enhance performance by minimizing the delay in command execution on the UAV compared to the control commands issued from the ground station. The feasibility of this solution is verified through practical testing utilizing a Quadrotor, Raspberry PI computer, and a 4G sim module. The findings demonstrate the effectiveness of the proposed approach in reducing command execution delays and improving overall UAV control performance.