The invention relates to an inclined rotating wing aircraft with telescopic wing membranes. The inclined rotating wing aircraft comprises an aircraft body, a center shaft, a main transmission mechanism, first to third power units, an outer side rod, a support rod, a main
wing membrane, a
flight controller, and first to third undercarriages. The inclined rotating wing aircraft disclosed by the invention is improved on the basis of the structure of the traditional four-wing aircraft, and an inclined rotating structure of an inclined rotating four-
rotary wing aircraft and a
wing membrane structure of a
flapping wing aircraft are added. According to the inclined rotating wing aircraft, the structural state of the inclined rotating wing aircraft includes a ground sliding state, a four-
rotary wing flying state and a high-altitude cruising state; when the inclined rotating wing aircraft is in a
ground movement state, the undercarriages contact with the ground, the main
wing membrane is open, and the forward movement, backward movement, left rotation movement, right rotation movement, climbing movement and
downgrade movement of the aircraft are realized by regulating the speed of four rotary wings; the movement state of the aircraft on the ground is realized under the action of the undercarriages, and the movement state is impossible to realize by the inclined rotating four-
rotary wing aircraft and the
flapping wing aircraft; and the climbing movement and the
downgrade movement can be realized without changing the state of the aircraft, so that the
energy consumption is reduced, and the complexity of a control program is prevented.