Based on the classical mechanics, the derivation of the equation motion of the quadrotor with tilting propeller is presented. The nonlinear quadrotor’s model is linearized by the method of small disturbance. The study of the effectiveness of propeller’s rotating velocity and propeller’s tilting angles in the quadrotor’s attitude shows that the propeller’s rotating velocity is more efficient in pitching and rolling, and propeller’s tilting angle is more efficient in yawing.