<p>The drone and drone swarm have come to the fore in recent regional conflicts, also bringing their associated security concerns, including authentication, into sharp focus. The aggregate signature offers a solution to authenticate the entire drone swarm. However, the verification process for each signature in the aggregation algorithm places a heavy burden on the master drone, and the aggregation time is even hundreds of times longer than the signing time. This accelerates battery depletion and reduces the flight endurance of the entire drone swarm due to the bucket effect. To balance the verification burden between the master drone and the other drones in the swarm, in this paper, we propose a multi-hierarchical aggregate signature scheme for drone swarms, utilizing a complete tree structure. Each node in the tree represents a drone, and each drone at a non-leaf node is responsible for verifying and aggregating the signatures from its child nodes, continuing this process up to the root node (the master drone). Therefore, it can further balance the verification workload and reduce aggregation time through parallel processing. Additionally, we introduce a tracing algorithm to identify invalid or malicious drones when verification fails. Our security proof shows unforgeability and traceability, while performance simulations reveal that aggregation time is now only dozens of times the signing time, and the aggregator’s communication cost has decreased from approximately 50 times that of the signer to about 4 times, albeit with the trade-off of increased communication frequencies.</p>