This paper investigates the adaptive prescribed performance control problem for quadrotors with actuator fault. Firstly, based on the double closed-loop control strategy, which includes inner loop attitude control and outer loop position control, the quadrotor system is decoupled as the position subsystem and the attitude subsystem. Then, an adaptive control strategy is proposed to estimate the fault parameter of the actuator, with which the stabilization problem of the quadrotor with actuator fault can be effectively solved. Furthermore, a prescribed performance control strategy is proposed to ensure that both the static performance and dynamic performance satisfy prescribed performance index. Finally, a simulation example is given to illustrate the effectiveness of the proposed methods.