To improve the trajectory tracking control accuracy and robustness of autonomous vehicles, a nonlinear robust control method for the trajectory tracking of autonomous vehicles based on a vehicle error dynamics model is proposed. First, on the basis of the establishment of a vehicle kinematics model and a nonlinear vehicle dynamics model, the vehicle error dynamics model is constructed. Next, the nonlinear robust controller design method for the second-order system is theoretically deduced, and the correctness of the control method is proved using the Lyapunov stability theory. Then, a nonlinear robust controller for the trajectory tracking of an autonomous vehicle based on the vehicle error dynamics model is designed, and the simulation is performed to verify the effectiveness of the proposed method. The results show that the nonlinear robust controller can effectively enhance the trajectory tracking control accuracy, significantly reduce control chattering and improve control precision in the presence of system parameter uncertainties. Moreover, the proposed controller can effectively mitigate the impact of measurement noise on vehicle trajectory tracking.