Lightweight Unmanned Aerial Vehicles (UAV) are usually very sensitive to the external disturbances during outdoor experimentations. These adverse conditions make both the dynamic modeling and the control tasks more complex. Thus, it is necessary to employ an efficient control technique with acceptable performance without a complete knowledge of the disturbed model. This is because, in the classic feedback linearization control, the deviations between the model and the real plant may produce poor performance. Throughout the present paper, Dynamic Sliding Mode Control (DSMC) technique is designed to deal with the disturbances and which has never been used for quadrotors. Unlike the existing sliding mode techniques, the designed one uses an input-dependent sliding surface in order to enhance the robustness level of the classical feedback linearization control law. The effectiveness of this approach that ensures 3D trajectory tracking of quadrotor is demonstrated through numerical simulations.