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For an unmanned aerial system (UAS) to operate successfully, it has to communicate reliably with different entities within its network. These entities include other aircraft and UAS, ground control stations, navigation satellite systems, and air traffic control systems. However, these systems are vulnerable to different cyber-attacks including message injection, message modification, jamming, and GPS spoofing. These attacks can mislead not only UAS and aircraft, but also pilots and air traffic controllers, leading potentially to collisions and human casualties. Over the last decade, a number of technological solutions for multiple UAS problems have been developed. Yet, few works related to UAS cybersecurity have been done. This paper provides an overview of UAS vulnerabilities, cyber-attacks, and the state-of-the-art in detection and countermeasure techniques. Attacks are classified according to their types and …