This paper investigates the hovering control of a quadrotor with dynamic uncertainties. The quadrotor dynamic model is partitioned into three subsystems: the attitude subsystem, the altitude subsystem, and the position subsystem. An adaptive fractional-order sliding mode controller (AFSMC) is constructed for the vertical position to keep the quadrotor at the required hovering height while the horizontal position is stabilized with the proportional-derivative (PD) controller. Furthermore, in order to control the orientation of the quadrotor, a robust nonsingular fast terminal sliding mode controller (NFTSMC) is developed for the attitude subsystem. The proposed control scheme enables the quadrotor to hover with an excellent transient state, high accuracy, and small settling time. Finally, simu-lation results illustrate the effective performance of the proposed scheme.