This paper presents the design, modeling and control of an Over-actuated Tilt-Octocopter vehicle (OTO) which can fly in any direction in an inclined attitude. The structure of octopus is designed, considering the flight efficiency and maneuverability of the vehicle with a general optimization method of rotor configuration to meet the mission requirements. Kinematic and dynamic modeling of OTO is carried out, and a model-based trajectory controller is designed. This new structure can decouple the position and attitude of OTO and improve the ability of tracking and fault tolerance of OTO. Finally, the numerical simulation and prototype experimental results verify the advantages of vehicle design.