Trajectory control of quadcopters becomes important for their operations in hazardous environments as well as pandemic-hit areas. This becomes intricate due to the complicated dynamics of the quadcopter in the face of disturbances and parameter uncertainties. PID control and Fuzzy control are inherently robust due to their model-free nature. This paper aims to control the altitude and rotational angles of a 6-DoF (degree of freedom) quadcopter using a hybrid Fuzzy-PID (F-PID) controller, followed by an analysis of the designed controller under disturbances and parametric uncertainty. The designed controller improves the quadcopter dynamics by maintaining its trajectory in uncertain and disturbed environmental conditions. The 6-DoF quadcopter model, along with the proposed hybrid F-PID controller, has been simulated in MATLAB®. Furthermore, the proposed F-PID controller and conventional PID controller performances have been compared in terms of critical parameters such as rising time, settling time, peak overshoot, and steady state error.