This study considers the tracking control problem of an uncertain quadrotor unmanned aerial vehicle with model uncertainties and wind gust disturbances, and a novel robust dynamic surface control based multiple state variables constrained control scheme is proposed. Under the presented control framework, the overall quadrotor system is decoupled into a translational subsystem and a rotational subsystem. These two subsystems are connected to each other through common attitude extraction algorithms. For the translational subsystem, the novel robust multiple state variables constrained control inputs are designed to ensure the state variables within the prescribed constraints. For the rotational subsystem, the dynamic surface control based tracking controllers are proposed to track the desired attitudes. In the end, the resulting closed-loop system is proved to be stable in the sense of uniform ultimate boundness, and numerical simulations and experiments are conducted to validate the feasibility and effectiveness of the designed control scheme.