The Euler's dynamical equation which describes the attitude motion of a perturbed rigid spacecraft is studied. A series of chaos systems is found from Euler's dynamical equation by selecting different parameter matrixes of perturbed torque. Based on the Lyapunov function, adaptive controller is designed such that the chaos control of unknown parameters of this system is accomplished, the state variables go to any appointed equilibrium points, and the unknown parameters are estimated simultaneously. Finally, the Newton-Leipnik system as an example is considered here to demonstrate the proposing technique. Simulation results show the feasibility and efficiency of this method.