Concentrating on the issue that the existence of wind has an effect on the attitude estimation of unmanned aerial vehicle (UAV) and thereafter degrades the controllability of the UAV, based on the extended Kalman filter (EKF), an approach of UAV attitude estimation is proposed in the presence of wind interference. Firstly, attitude quaternion and drift bias of gyroscope are selected to construct the state vector, and the state equation is established based on the kinematics model of gyroscope. After that, observation equation can be obtained via using the measurement of accelerometer, magnetometer, and airspeed tube. In what follows, the EKF update equation is exploited to determine the UAV attitude. As compared to the traditional EKF and unscented Kalman filter, experimental results show that the proposed algorithm can depress the divergence of attitude angle obviously, upgrade the attitude measurement accuracy considerably, and lower the attitude angle error significantly.