In this paper a Model-Free based Terminal Sliding-Mode Control (MFTSMC) strategy is developed to control the attitude and position of a quadrotor whose model includes parameter variations, uncertainties and external disturbances. The proposed MFTSMC combines a model-free control approach with a sliding-mode technique and makes possible to eliminate the tracking error in a finite time. To demonstrate the performance and effectiveness of the proposed MFTSMC, numerical simulation results have been obtained and compared with corresponding results for PID, backstepping and sliding-mode controls.