In this paper, a Lyapunov-based control using singular perturbation theory is proposed and applied on dynamics of a miniature unmanned aerial vehicle (MAV). Such controller is designed taking into account the presence of the small parameter $\epsilon$ on vehicle dynamics, causing a time-scale separation between the attitude and translational dynamics of the MAV. The stability analysis is demonstrated by presenting a scenario in which the time-scale property arises on the the MAV dynamics. In addition, the values of the parameter for which the control law is validated, are given. Simulations are derived an presented to demonstrate the effectiveness of the control law. The proposed controller has been applied to a Quad-plane MAV experimental platform, in order to validate the performance and to show the time-scale property.