This paper introduces an autonomous vision-based tracking system for a quadrotor unmanned aerial vehicle (UAV) equipped with an onboard camera, designed to track a maneuvering target without external localization sensors or GPS. Accurate capture of dynamic aerial targets is essential to ensure real-time tracking and effective management. The system employs a robust and computationally efficient visual tracking method that combines HSV filter detection with a shape detection algorithm. Target states are estimated using an enhanced extended Kalman filter (EKF), providing precise state predictions. Furthermore, a closed-loop Proportional-Integral-Derivative (PID) controller, based on the estimated states, is implemented to enable the UAV to autonomously follow the moving target. Extensive simulation and experimental results validate the system’s ability to efficiently and reliably track a dynamic target, demonstrating robustness against noise, light reflections, or illumination interference, and ensure stable and rapid tracking using low-cost components.