This work presents an adaptive fault tolerant trajectory tracking controller for an underwater tracked robot (UTR) with actuator faults. Fuzzy logic systems are employed to approximate the nonlinear dynamics of the UTR. Meanwhile, adaptive control techniques are adopted to design parameter update laws that compensate for both the upper bound of the composite derivative terms and actuator faults. By integrating backstepping and dynamic surface control (DSC), a novel robust adaptive fault-tolerant control scheme with prescribed performance constraints is developed. Finally, the effectiveness of the proposed control method is demonstrated through simulation results.