This study aimed to compare the non-uniform rational B-spline (NURBS) and Bezier curves to design the shape of an autonomous underwater helicopter (AUH). Currently, there is no established method for AUH shape design. The optimal solutions obtained from both curves were compared to evaluate their performance. A parametric model was constructed to determine the design variables of the two curves. Computational fluid dynamics was used to solve the resistance values of different shapes. Sample points were generated using the design of the experimental approach, and an approximate model was established using the radial basis function neural network method. Based on the combinatorial optimization strategy, three intelligent optimization algorithms were used for the global search. Then, the resulting solution was used as the starting point for a local search to obtain the global optimal solution. The resistance optimal solutions achieved by employing the NURBS and Bezier curves were 25.2% and 24.1% smaller than the initial values, respectively. These findings indicate that, within the design parameters of this study, the shape design approach using the NURBS curve yields superior performance for the AUH.