In recent years, quadrotors have emerged as versatile aerial vehicles, serving both recreational and critical industrial purposes in fields such as surveillance, search and rescue, agriculture, and transportation. However, ensuring their reliability and safety in the presence of operational faults or disturbances remains a significant challenge. This research aims to address these concerns by developing a robust controller that integrates Incremental Nonlinear Dynamic Inversion (INDI) with H-infinity loop shaping design process (LSDP), resulting in enhanced disturbance rejection and improved robustness to model uncertainty. A nonlinear aerodynamic model, based on flight test data, is used to enhance the fidelity of the quadrotor’s motion equations. The proposed controller is tested and compared with a traditional PD controller. Simulations of attitude control were conducted under different compensators to evaluate the impact of various robust control strategies, particularly in terms of disturbance rejection when combined with the INDI implementation in a 6-DOF nonlinear quadrotor simulator. Results demonstrate the superior disturbance rejection capabilities of the robust controlled system, highlighting the effectiveness of the proposed control strategy in improving performance and reliability under uncertain conditions.