In this paper an adaptive dynamic surface attitude controller is designed to meet the requirement of fast, accurate and robust for kinetic kill vehicle (KKV) attitude control under the constraints of side window detection. Firstly, the influence of different target detection methods on attitude is analyzed and the desired attitude angle is derived. Secondly, the mathematical mode of KKV is established which considered about interaction between three channels and control torque. Then, an adaptive dynamic surface attitude controller is designed and nonlinear disturbance observer (NDO) is adopted for the uncertainties estimation and compensation to improve the control precision. The pulse-width pulse-frequency (PWPF) modulator is utilized to shape the continuous control command to pulse or on-off signals to meet the requirements of the reaction thruster. Numerical simulations demonstrate that the proposed method can achieve good control performance such as pseudo-linear operation, high accuracy, and fast enough tracking speed.