Aiming at the problem that the servo control method of a remotely operated underwater vehicle(ROV) working under the deep sea which is disturbed by external factors, the thrust forces’ allocation structure of the propellers is established, and the applied forces of the thrusters on the ROV are deduced. Then, according to the principles of PID and rules of fuzzy logic control, the fuzzy PID controller is built to realize the servo control for the ROV to eliminate the external disturbance so as to restore its stationary state. Finally, it is concluded that the fuzzy PID controller owns better dynamic and steady-state properties, which shows the good performance of the servo control through the simulation experiment.