For a control moment gyroscopes gimbal servo system with friction nonlinearities and uncertainties, a terminal sliding mode based finite-time adaptive robust control method is presented, which can guarantee that the tracking error of the closed-loop system can converge to an arbitrarily small neighborhood containing the origin. Then, parametric uncertainties are estimated online to improve the robustness of the system to parametric variation and the adverse effects of external disturbance and friction nonlinearities on the system are reduced. The stability of the closed-loop control system is analyzed and proved via the Lyapunov stability theory. The simulation results for the gyroscopes gimbal servo control system verify the effectiveness of the proposed control law.