A robust variable structure control plus dynamic inversion method was presented for nonlinear reentry attitude dynamics of hypersonic vehicles under model uncertainties and external disturbances. The dynamics is separated into fast and slow loops as angular velocity and attitude angular in terms of singular perturbation theory. Outloop gets the control laws based on adaptive variable structure control theory of reduced model without inversion computation, the disturbances observer is to compensate the generalized disturbances, to improve robustness and guarantee stability of closedloop systems. Inloop system is affine in control, the decoupling controller based on nonlinear dynamic inversion and state feedback is designed, the desired dynamics is proportional plus integral dynamics form. Lastly, Simulation result demonstrates the effectiveness of the proposed method.