The invention relates to a UAV formation control method. The UAV formation control method includes: acquiring the target formation information of a target UAV; acquiring the current formation information of the target UAV in a ground inertial coordinate system; receiving the neighbor formation difference information sent by a neighboring UAV; calculating, according to the target formation information, the current formation information and the neighbor formation difference information, the desired acceleration of the target UAV; and enabling the target UAV to fly to a target position and at target speed according to the desired acceleration. The UAV formation control method adjusts the desired acceleration through the target formation information, the current formation information, and theneighbor formation difference information so as to accurately control the position and speed of the UAV in a fleet. The invention also relates to a UAV formation control device, a readable storage medium, and a UAV.