The invention discloses a cradle head rotation control method and device and an unmanned aerial vehicle. The cradle head is arranged on the unmanned aerial vehicle; and a camera device is mounted on the cradle head. The cradle head rotation control method comprises the steps of obtaining a first frame image, which is shot by the camera device at a first time, and a second frame image, which is shot by the camera device at a second time, wherein the first frame image and the second frame image are adjacent frame images; processing the first frame image and the second frame image to obtain a moving distance of an object tracked by the unmanned aerial vehicle; measuring a first distance between the object and the cradle head at the first time and a second distance between the object and the cradle head at the second time; calculating a deviation angle of the object according to the moving distance of the object, the first distance and the second distance; and controlling the rotation of the cradle head by using the deviation angle of the object. According to the cradle head rotation control method and device and the unmanned aerial vehicle, the automatic rotation of the cradle head isrealized and manual operation is reduced.