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This paper investigates the problem of attitude stabilization control for rigid spacecraft subject to actuator output deviation disturbance and external disturbances without angular velocity measurement. Firstly, an angular velocity observer is designed which ensures asymptotic convergence of angular velocity estimation error. Furthermore, taking actuator output deviation disturbance into consideration, a reaction wheel output deviation disturbance observer is constructed to give an estimate of the disturbance signal which is then compensated in feed-forward channel to realize high-precision attitude stabilization control. Subsequently, a composite control law which consists of aforementioned angular velocity observer and disturbance observer is developed. Finally, numerical simulations are given to demonstrate effectiveness of the proposed control scheme.