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The motion of an underwater vehicle is prone to be affected by time-varying model parameters and the actuator limitation in control practice. Adaptive control is an effective method to deal with the general system dynamic uncertainties and disturbances. However, the effect of disturbances control on transient dynamics is not prominent. In this paper, we redesign the L 1 adaptive control architecture (L1AC) with anti-windup (AW) compensator to guarantee robust and fast adaption of the underwater vehicle with input saturation and coupling disturbances. To reduce the fluctuation of vehicle states, the Riccati-based AW compensator is utilized to compensate the output signal from L1AC controller via taking proper modification. The proposed method is applied to the pitch channel of REMUS vehicle’s six Degrees Of Freedom (DOF) model with strong nonlinearities and compared with L1AC baseline controller. Simulations show the effectiveness of the proposed control strategy compared to the original L1AC. Besides, the fluctuation in roll channel coupled with pitch channel is suppressed according to the performances of control tests.