Wing damage not only destroys the structure of the aircraft’s wings, but also changes the overall aerodynamic characteristics of the aircraft, causing a serious threat to the flight safety of the aircraft. It is difficult to ensure the flight stability and control accuracy after the damage with general control methods. Aiming at the problems of the change of physical parameters and aerodynamic parameters of the aircraft caused by wing damage, this paper takes the wing-damaged aircraft as the research object and designs the angular rate and the attitude control laws based on ADRC. The parameter variations due to wing damage are unified as the total disturbance of the system, which are estimated and eliminated by ESO. Simulation results show that the designed control laws have good control efficiency both before and after the wing damage with high control accuracy and strong robustness.