Abstract: Aiming at the high network overhead of the traditional large scale Unmanned Aerial Vehicle (UAV) and the energyconstrained character of the small UAV and micro UAV, this paper proposes a heuristic UAV self-organizing network protocol based on the swarm behavior. Simulation results show that this protocol can apply to the scenario of UAV saturation attack, etc., and has the advantages of simple structure, low network latency and long time-to-live.