The invention discloses a self-adaptive precise recycling control method of a carrier rocket. A nonlinear model truly embodying the dynamic properties of the carrier rocket is adopted, a return phasedynamic model is built, and system parameter uncertainty and interference are introduced; in order to estimate the parameter uncertainty in the dynamic model of the carrier rocket repeatedly used andimprove the accuracy of estimation, a self-adaptive sliding-mode observer is built, and a self-adaptive estimation rule of the parameters (as shown in the description) is designed; based on a backstepping control thought, a tracking controller of a sliding-mode dynamic surface is designed. According to the method, unmodeled dynamics of pneumatic parameters and uncertain factors caused by the influence of fuel consumption are considered at the same time, so that the proposed model better conforms to the actual running condition of a sublevel control system of the carrier rocket in a vertical return phase; the designed self-adaptive parameter observer does not need the known condition of the upper bound of uncertainty and interference, and has more advantages in practical application; the accuracy of uncertain estimation is improved due to appropriate adjustment of time varying gain relative to interference.