In this paper, the bilateral teleoperation control of a monocular vision-based formation system of quadrotors is proposed. Formation control can be decomposed into a two-level problem: center control and shape control of formation. On one hand, the suitable incorporation of human operation in the control loop can be exploited as a valid support for controlling the center of formation. Not only the position control but the force control of the formation system is regulated by forming a force controlled loop. On the other hand, the accurate formation shape control of quadrotors usually relies on the external motion capture system or signals, which severely limit the deployment. An environment-independent approach of relative localization only using the on-board monocular camera is developed for formation shape control. Finally, experimental results on monocular vision-based formation control of two quadrotors under bilateral teleoperation are presented.