The invention relates to a layered and distributed model prediction control cooperative strategy of AUV formations. By analyzing kinematic characteristics and dynamic characteristics among the formations, a layered control system structure of a structure where an upper layer and a lower layer are serially connected is built; a distributed model prediction control algorithm is designed to realize cooperative control of a multiple-AUV upper-layer system, and a nonlinear model prediction control algorithm is designed to realize tracking control of a AUV lower-layer system; serial connection is performed to realize cooperative control of the whole AUV formation, and multi-path planning is predetermined.