Distributed intrusion detection systems (DIDS) are a specialized subset of conventional IDSs designed for implementation in distributed environments. Each IDS is integrated into distinct entities within a monitored network, potentially distributed across various locations. These participating IDSs can be configured to detect either a particular or multiple attack types. Although DIDS has found extensive application in diverse IoT systems, its utilization in unmanned aerial vehicles (UAVs) still needs to be explored. Consequently, it is imperative to devise a comprehensive framework tailored explicitly for UAVs. It combines multiple detection units to enhance security. Based on the insights gained from previous studies, we propose an exhaustive DIDS for UAVs security enforcement in this paper. Our proposed solution offers a robust and scalable security approach. Through distributing the workload across interconnected IDSs deployed on the UAV, our solution was optimized for UAVs attacks detection to achieve high detection performance while reducing the complexity. To the best of our insight, there is no recorded DIDS for UAVs security, and attack detection has been proposed and evaluated. Furthermore, our paper provides a detailed analysis, outlining the development basis and the achieved results. We performed multiple experiments over different cases using different datasets. The achieved experimental results demonstrate that the proposed IDS has significantly high accuracy detection and low loss rates. Our proposed E-DIDS efficiently detects multiple attacks on different UAVs subsets with good global accuracy that reached 98.6% and low resource consumption.