In this paper, we are presenting a new controller to deal with a tracking control of quadrotor vehicle. This controller allows moving within six translational and rotational degrees of freedom. Both of the dynamic model and the proposed control system are, globally, expressed in the special Euclidean group SE 3 to avoid the complexities and ambiguities associated with other attitudes representations. We designed our nonlinear geometric PID control to obtain the desirable closed loop properties. As a result, We succeeded to obtain an efficient controller that allows the quadrotor to follow the desired trajectory; even in the presence of external perturbation as wind blowing or with internal disturbance, caused either by the change of inertia matrix or by the mass. Numerical simulations, including realistic situations, evaluate this approach. We also compared between our results and those of previous works. \textcopyright 2016 SoftMotor Ltd.