Unmanned Aerial Vehicles (UAVs) are becoming a worldwide trend in the drive for technical improvements. The robust approach between densely deployed Internet of Things (IoT) devices and cellular users in 5G and beyond will produce a massive amount of data in reality. Thus, the traditional heterogeneous wireless networks are inefficient in handling a large amount of data while maintaining network latency. This will create havoc in critical applications such as disaster management, and public safety where a fraction of latency is not tolerated. To address the shortcomings of existing wireless networks, UAVs equipped with fog nodes work as a server, and this collaboration completes missions more swiftly and inexpensively. Fog computing is an eminent technology for maintaining a huge number of user data while ensuring minimal network latency. This paper proposes to collaborate UAVs with fog computing whereas some of the UAVs work as fog nodes with computing capabilities and some work as local UAVs to provide endless connectivity and seamless coverage. Meanwhile, a collaboration of UAVs and UAV-Fog nodes is used to formulate and assign multiple tasks to users in order to offload the volume of data with maximum capacity and minimum latency. The result analysis shows that the proposed network can balance the overall network with minimum latency and better Quality of Service (QoS).