One of the most critical issues for unmanned aerial vehicle (UAV) safety and precision flight is wind disturbance. To this end, this paper presents an acceleration feedback (AF) enhanced H∞ method for UAV flight control against wind disturbance and its application on a hex-rotor platform. The dynamics of the UAV system are decoupled into attitude control and position control loops. A hierarchical H∞ controller is then designed for the decoupled system. Finally, an AF-enhanced method is introduced into the decoupled system without altering the original control structure. The stability of the AF-enhanced H∞ method for the UAV system is analyzed and verified using the H∞ theory. Two types of wind disturbances—continuous and gusty winds—are considered and analyzed for guiding the AF-enhanced controller design. The results of an experimental comparison between the H∞ controller and the AF-enhanced H∞ controller against wind disturbances demonstrate the robustness and effectiveness of the proposed method for wind disturbance rejection.