In this paper, a control scheme is designed for the trajectory tracking problem of underactuated autonomous underwater vehicles with input saturation, parameter uncertainty, and disturbance. First, a novel continuous desired heading angle is designed, which is better than traditional tracking error-based desired angle design and excludes the discontinuity problem of the desired angle in traditional design. Second, based on the desired heading angle design, dynamic surface control is introduced, which reduces the computational complexity, and the desired speed can be obtained. A compensation filter is used to compensate for the loss caused by the input saturation of the control signal. Third, novel velocity compensation laws are designed to compensate the sway velocity, which can overcome the challenge of underactuation. Moreover, the parameter uncertainty issue, which widely exists in most engineering systems, can also be handled by the novel velocity compensation laws. In the simulation, the performance of the desired heading angle and velocity compensation law designed in this paper are compared, and simulation results verify the effectiveness of the method proposed in this paper.