An attitude control method combining H∞ robust control and nonlinear dynamic inversion control is proposed for the strong nonlinear aerodynamic characteristics and complex airflow disturbances during coaxial compound helicopter nap-of-the-earth flight. Firstly, dynamic inversion control laws are designed for attitude and attitude rates depending on different rates to eliminate the nonlinear characteristics of the controlled object; Secondly, considering the poor robustness of the nonlinear dynamic inversion control law, the H∞ loop shaping control method is introduced to suppress model uncertainties, achieving effective tracking of command signals; Finally, numerical simulation verification was conducted. The results show that the designed coaxial compound helicopter H∞ robust nonlinear dynamic inversion attitude controller achieves excellent tracking performance and robustness.