Due to the limitation of mobility and cost, it is inappropriate to utilize ground base station (GBS) to provide service in emergency scenarios or harsh environments. Unmanned aerial vehicle (UAV) is considered as a feasible way to solve the problem. Millimetre wave communication and UAV can be used together to offer wireless communications flexibly and rapidly for target area. However, fuselage jittering and energy supply would affect the quality and reliability of UAV communication seriously. To overcome the weakness of UAV, the authors prefer to use multiple UAVs to provide wireless communication service simultaneously. This paper investigates the design of hybrid beamforming in the scenarios including multiple UAVs and one end user. Cooperation strategy and alternating optimization method are applied in this design. The distributed UAV base stations are regarded as an entirety and the reference beamforming scheme obtained. Then, the beamforming problem for each UAV is formulated. Moreover, residual error minimization (REM) algorithm is proposed to find the solution of hybrid beamformers at UAV side. Finally, the beamformer of the receiver is optimized with the assist of effective channel, which includes the gain of both channel and beamformers of the transmitters. Simulation results show that the proposed algorithm can achieve near‐optimal spectral efficiency in different scenarios.