In order to solve the path planning problem about multiple unmanned aerial vehicles (UAVs) attacking multiple targets under static environment, the method based on consistency theory is proposed in this paper. The Voronoi diagram method is used to create threat field and the total path cost is established firstly. Then, path planning model is constructed and the payment function of multiple UAVs path planning is designed. The idea that multiple UAVs cooperatively seek the optimal path based on consistency theory is further defined by establishing the path solving framework, the purpose of which is that multiple UAVs take off and arrive at prescribed target points at the same time. Finally, the simulation experiment is conducted, the results of which demonstrate that using the consistency theory combined with Voronoi diagram can guarantee the optimal path of UAVs and complete multiple UAVs cooperatively attacking multiple targets.