In this paper, a novel attitude cooperative controller for satellite formation system is proposed, which is based on the fixed-time sliding mode control and cross-coupling method. Firstly, the dynamics and kinematics model of satellite’s attitude is presented. Secondly, to realize fast and stable attitude tracking control, a fixed-time sliding mode tracking controller is designed, whose stability can be proofed by the Lyapunov theory. Then, a fuzzy-based cross-coupling cooperative controller considering the cooperative error between satellites is designed, which can improve the coordination of the system without affecting the control stability and accuracy. Finally, the numerical simulations are provided to verify the effectiveness and superiority of the proposed satellite formation attitude controller.