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This paper presents an adaptive controller design for the attitude and altitude of quadrotors which are subjected to wind disturbances. During the design, it is assumed that the total mass, inertia tensor, the arms' length of the vehicle and the parameters of the propellers attached on the rotors are known. The wind disturbances on quadrotors are modeled as a finite sum of sinusoidal functions with unknown frequencies, amplitudes and phases. It is proved that the equilibrium of the closed loop system is stable, all signals are bounded and desired altitude and attitude control are achieved despite unknown wind disturbance. Finally, a simulation is performed to show the feasibility of the design. [ABSTRACT FROM AUTHOR]