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In this paper, the robust attitude controller designed for flexible spacecraft with quality characteristic parameter uncertainty and internal and external disturbances uncertainty is studied. First of all, through coordinate transformation and approximate linearization method, the model of flexible spacecraft is transformed into a control model which is easy to be designed, and then a new form was used to deal with uncertainties appropriately, and finally the dynamic output feedback controller can be obtained by using variable substitution method and LMI toolbox. The simulation results show that the controller has strong robustness and can adapt to biggish quality characteristic parameter uncertainty and suppress both internal and external disturbances well. The design method has some referential value in achieving very accurate and stable satellite attitude control.