Abstract: An unmanned aerial vehicle (UAV) with omnidirectional thrust vectoring includes a central unit, a connective structure, and a plurality of propulsion units with omnidirectional thrust vectoring allowing a full six degrees of freedom. A vectored propulsion unit comprises thruster vectored by an omnidirectional mechanism and may include an autonomous sub-vehicle housed within a rotational frame, or an actuator-thruster assembly with directional control. A UAV with omnidirectional thrust vectoring includes a control system with a ground station unit, a central flight control unit, and a propulsion control unit. A plurality of vectored propulsion units working in coordination allows an unmanned aerial vehicle to maneuver with any stance or body orientation.