The objective of this work is to introduce the design, simulation and control of a quad rotor, equipped with Inertial Sensors, as an example of unmanned aerial vehicle. To fulfill this objective a mathematical model of the quad rotor has been developed, using Newton-Euler Formulation. The simulation of the model and controller design is developed in MATLAB/Simulink environment. It is intended to make the model flexible and easily modified to be used with any similar model. In order to evaluate the real model mass and mass moment of inertia, a solid model had been built using Autodesk Inventor software package. To validate the proposed model output results, a comparison with published research has been carried out which showed a good agreement. Finally, a fuzzy controller is designed to control the quad rotor altitude and the three Euler angles of roll, pitch and yaw. The controller showed a good controllability within a certain range of the controlled parameter.