A new nonlinear robust $H_\infty$ control approach is proposed for the problem of the spacecraft attitude maneuver with dynamic parameter perturbation and external disturbance. By the appropriate treatment and assumption, the spacecraft attitude model is expressed as a polynomial state space equation with polytopic uncertainty, and the solvable conditions of the nonlinear state feedback $H_\infty$ control is established based on the Lyapunov stability and the sum of squares(SOS) theories. Finally, a numerical example is given to illustrate the effectiveness of the obtained results.