To address the problem that the trajectory tracking error of the quadrotor is significant under the condition of solid coupling, underdriving, and external interference, a trajectory tracking control method based on adaptive backstepping combined with active disturbance rejection is designed. First, a position-posture dual-loop control system is established to solve the quadrotor's strong coupling and underdriving problems. Then, an adaptive backstepping controller is used for the position loop, and a nonlinear active disturbance rejection controller is used for the attitude loop. By introducing an adaptive factor in the backstepping method and a disturbance observer in the attitude loop to compensate for the uncertainty disturbance, the excellent stability and robustness of the quadrotor are ensured. Finally, a simulation verification is conducted in Matlab environment to compare with the traditional PID, and the experimental results show that the trajectory tracking accuracy of the proposed algorithm in this paper is significantly improved compared with PID.