The invention discloses a docking unmanned aerial vehicle and an aerial cargo loading and unloading method. The docking unmanned aerial vehicle includes an unmanned aerial vehicle center, a docking system, a battery, a motor, a vehicle arm, a propeller and a landing gear, and the docking system comprises a lift, a docking mechanism and a vision module. During aerial cargo loading and unloading, afixed-wing aircraft arrives above the destination, real-time coordinates are sent to the ground docking unmanned aerial vehicle through a navigation and positioning system, after receiving a signal, the ground docking unmanned aerial vehicle takes off and flies under fixed wings, a two-dimension code on the belly of the fixed-wing aircraft can be identified through a camera for precise position adjustment, then loading and unloading of containers are completed through the docking mechanism. According to the docking unmanned aerial vehicle and the aerial cargo loading and unloading method, thetwo-dimensional code is used for visual identification docking, the precision is high, and meanwhile, the fixed wing weight is not needed to be carried and pneumatic parts are not needed to be connected, and the overall performance is effectively improved.