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If the transmission channel state is in the congestion state, the UAV data Transmission delay will increase significantly. Therefore, the UAV data Transmission delay control model based on fuzzy neural network is constructed. The UAV data transmission channel is determined by considering the phenomena of direct radiation, scattering and reflection, and the Transmission delay of the UAV data transmission channel is calculated. The UAV data transmission channel is judged to be congested by combining the factors such as energy consumption and delay. The delay control command is generated by the delay control model based on fuzzy neural network, and the UAV data Transmission delay control is achieved through spread spectrum modulation, congestion scheduling, queue management and other steps. The experimental results show that under the control of this model, the data transmission time of UAV reaches the expected level, the control error is about 0.03s, and there is no obvious adverse impact on the data transmission process, so the control effect is better.