This paper investigates the formation tracking problem for multiple unmanned aerial vehicles (UAVs) and proposes a distributed formation tracking method based on a distributed consensus protocol. First, a consensus protocol with matrix weights is developed based on the consensus principle. Then, to address the issue of multiple solution spaces, a virtual leader guidance scheme is introduced to steer the formation toward the desired solution space. By incorporating the leader’s velocity and position guidance, the formation can effectively track the leader. Simulation results validate that the proposed method, using only local neighbor information to compute formation gain matrices, achieves robust tracking performance under random leader trajectories and initial conditions.