In　this　paper,　a　novel　formation　control　scheme　is　presented　by　integrating　the　dynamic　surface　control　for　multi-quadrotor　subject　with　model　uncertainties　and　external　disturbances.　First,　according　to　requirements　of　formation　control,　the　target　trajectories　of　followers　are　obtained　by　the　designed　virtual　quadrotors.　Then,　the　formation　control　problem　is　transformed　into　the　trajectory　tracking　control　problem.　Second,　the　saturation　function　and　the　auxiliary　system　are　developed　to　make　up　for　nonlinear　terms　arising　from　input　saturation.　A　nonlinear　extended　state　observer　(ESO)　is　proposed　to　estimate　and　compensate　for　model　uncertainties　and　external　disturbances,　and　a　dynamic　surface　controller　based　on　the　nonlinear　ESO　is　constructed　for　the　desired　formation　performance.　In　addition,　the　amount　of　communications　between　the　quadrotors　is　decreased　by　the　constructed　distributed　speed　estimator.　And　the　uniformly　ultimately　bounded　is　proved　by　using　the　Lyapunov　method.　Finally,　the　numerical　example　is　used　to　demonstrate　that　the　designed　controller　is　effective.