A traditional aerial optoelectronic platform consists of inside and outside multilayer gimbals, while an internal gimbal and drive components occupy the internal space where optical sensors are located. In order to improve the replaceability of optical sensors and to increase their available space, this paper introduces a nonorthogonal aerial optoelectronic platform based on three axes; we carried out research on its drive control method. A three-dimensional structure of an aerial optoelectronic platform was designed. A noncontact drive of a linear voice coil motor was introduced, and a drive control scheme of a proportional integral and a disturbance observer was adopted. Finally, simulations and experiments were carried out. Results showed that the aerial optoelectronic platform could effectively release three times the image sensor space, and the servo bandwidth was 60.2 Hz, which was much better than that of traditional two-axis and four-gimbal platforms. The stability accuracy of the system reached 4.9958 micron rad, which was obviously better than that of traditional gimbals. This paper provides a reference for the design of new optoelectronic platforms.