Abstract: The present disclosure illustrates a system for pairing an unmanned aerial vehicle (UAV) and a truck to make the UAV complete goods delivery and a method thereof. In the system, a control server updates truck status data according to truck messages sent from in-vehicle servers set in different trucks, pairs a UAV and one of the trucks according to the truck status data and a UAV message and generates a task message after the control server receives the UAV message, transmits the task message to the UAV and the paired truck. The UAV carries out a task assigned by the task message after the UAV meets the paired truck according to the task message. The system and the method does not need to set up UAV charging stations, and can achieve the effect of improving delivery efficiency.