In view of the problem of trajectory tracking control of underactuated surface ship, based on the Model Predictive Control (MPC) principle, a Parameterized Model – Nonlinear Model Predictive Control (PM-NMPC) method is proposed. The parameterized model of the ship is identified with least square method, and the PM-NMPC controller is designed. The heading angle control and trajectory tracking of a container ship under the environmental interference are tested to verify the effectiveness of control algorithm, and the controller is compared with the Proportional plus Integral plus Derivative controller (PID controller). The simulation results show that the PM-NMPC is of better trajectory tracking effect and stronger robustness to the unknown interference.