We investigate the leader-follower consensus problem for disturbed cyber-physical systems (CPSs) that are subjected to asynchronous denial of service (DoS) attacks, where DoS attacks occur in both the sensor-to-controller channel and the controller-to-actuator channel. Then, to achieve leader-follower consensus, the control scheme based on observer and buffer is designed. The observer is utilized for estimating unmeasurable agent states and mitigating the effects of disturbance. Moreover, the buffer is implemented to store and update control inputs during asynchronous DoS attacks. Additionally, a security controller that contains both the current and future control inputs is designed by predictive control theory, and the sufficient condition on DoS attacks is obtained to ensure the leader-follower consensus of CPSs. Finally, simulation demonstrates the validity of our proposed control scheme.