We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadro-tor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology cannot be directly applied. We introduce the necessary design modifications to stabilize the considered system with prescribed performance. The proposed control protocol does not use any information of dynamic model parameters or exogenous disturbances. Furthermore, the stability analysis guarantees that the tracking errors remain inside of designer-specified time-varying functions, achieving prescribed performance independent from the control gains’ selection. Finally, simulation results verify the theoretical results.