In response to the impact of the variability of the battlefield environment and the uncertainty of enemy targets on the task allocation of unmanned aerial vehicle (UAV) formation in the continuous combat scenario of UAV clusters, a multi-UAV dynamic task allocation method based on the rolling time domain in an uncertain environment is proposed. In response to the uncertainty of the enemy situation, the uncertain attributes of the mission are characterized by interval numbers, and a multi-UAV dynamic mission allocation model is established by considering both definite and uncertain factors such as payload, fuel constraints, mission risk, and mission execution time window of unmanned aerial vehicles. To address the problem of the variable battlefield environment, a hybrid auction algorithm under the rolling time domain mechanism is used to solve the model. The simulation results show that the model and the solution algorithm constructed in this paper are effective.