Facing the three-dimensional, diverse, and complex underwater detection task, this paper proposed an unmanned surface vehicle-autonomous underwater vehicle (USV-AUV) cross-domain heterogeneous cooperative control strategy based on the leader-follower method. First, the control strategy takes into account the dynamic modeling error caused by factors such as unknown environmental disturbances, and designs a non-linear disturbance observer to estimate the influence. Then, the dynamic adaptive look-ahead distance is used to improve the LOS method, which can solve the formation control problem of underactuated vehicles. The USV-AUV formation control problem is rebuilt based on the cascaded system. The AUV following controller is designed through feedback linearization. Finally, the whole system is improved uniformly, globally, and asymptoticly stable by the Lyapunov theory. The USV-AUV lake test verifies the effectiveness of the formation control strategy.