The present invention provides a method for controlling the attitude and orbit of a satellite by adopting obliquely-arranged thrusters. The satellite comprises four obliquely-arranged thrusters which are arranged on the same surface of the satellite symmetrically and obliquely, and a certain included angle is formed between the installation direction and the orbit control thrust direction. The method for controlling the attitude and orbit of the satellite by adopting the obliquely-arranged thrusters comprises the following steps that 1, a pulse width modulation working mode is adopted, the control torque and the direction required to be generated by the satellite are calculated according to the current attitude angle and angular velocity of the satellite, and the control torque generated in one modulation pulse width cycle is guaranteed to be greater than the interference torque during orbit control, to ensure the satellite attitude to be stale and meet the orbit control requirement; 2, the control torque required to be generated by the satellite is assigned to each thruster according to the direction of the control torque, to make the thrusters to generate control torque.