In this paper, the cooperative cruising control and dynamic obstacle avoidance problems for unmanned aerial vehicle(UAV) platoon are investigated. The transverse feedback linearization(TFL) method is employed to transfer the dynamic model of UAVs, and a decoupled control input is designed for the platoon to follow the desired path. Following the cruise path, a distributed control strategy based on the consensus protocal is developed. In order to ensure the safety of the UAV platoon which is subject to the moving obstacle, this paper also proposes an obstacle avoidance control strategy via the combination of the potential field methodology with the consensue protocal. The stability of the proposed control strategy is proved via the Lyapunov based stability analysis and the LaSalle's invariance principle. Meanwhile, it is proved through the energy-based analysis that no collisions occur between any agent in the vehicle platoon and the moving obstacle. Finally, real-time experiments of cooperative flight control and obtacle avoidance are performed to demonstrate the effctiveness of the proposed control strategy.