Drones have been under development for many years. As a result of market development and the large amount of research investment, the development of drones has been very rapid in recent years. The application of drones in the IoT is becoming increasingly extensive. Drones are convenient for performing a wide range of monitoring tasks. They can be mounted with sensors and used in various fields, and tasks that were difficult to achieve in the past can now be completed. However, to successfully complete a task, the accurate control of drones is necessary. In this paper, we propose a new drone control method in which image recognition technology is used to combine real-time images and distance-sensing feedback based on an IoT environment. The drone can also be intuitively controlled by moving the head and making gestures with the hands. The drone can identify obstacles along a route by viewing the surrounding environment via its supersonic sensor and its flight can be precisely controlled. The proposed drone control system based on the IoT environment has the advantages of providing users with intuitive control, a better experience, and low-cost, high-stability image recognition for drone control.