Unmanned aerial vehicle(UAV)technologies have a promising application prospect.It is nec-essary to use digital signature schemes to protect the integrity and authentication of messages in the UAV networks.According to the characteristics of UAV networks,digital signature schemes should solve the prob-lems of digital certificate management and key escrow,guarantee the real-time performance of UAV executing commands,and ensure that only the designated verifier can verify the signature.Therefore,we proposed a certificateless designated verifier proxy signature(CLDVPS)scheme which meets the requirements.We proved our signature scheme is existentially unforgeable under an adaptive chosen message attack in the random oracle model and compared the efficiency of our signature scheme with other signature schemes.We implemented these signature schemes in jPBC to obtain the computing time and theoretically analyzed signature length of these signature schemes.The analysis results indicate that our CLDVPS scheme is more efficient than most of other related signature schemes on computation costs and also efficient on communi-cation costs.