This article addresses the formation maneuvering control problem of quadrotor unmanned aerial vehicles (UAVs) in 3-D space subject to unknown external disturbances. The finite-time bearing-based controller is designed to rapidly achieve translational and clustering maneuvers of the system. The leader-follower structure is adopted which can achieve formation mobility for all members by merely manipulating the position of the leaders. With the aid of finite-time theory and sliding-mode theory, the followers can achieve the desired trajectory. Additionally, considering the vulnerability of UAVs to external disturbances, adaptive control is utilized to improve the robustness of the system. Based on Lyapunov theory, formation errors, and all closed-loop signals can reach a stable state. Finally, numerical simulations demonstrate the effectiveness of the proposed controller.