A finite-time trajectory tracking control scheme based on the extended state observer is proposed for surface vehicles with model parameter uncertainties and unknown time-varying disturbances. Firstly, a novel finite-time control law is proposed based on the backstepping technique and “adding a power integrator” technique. The designed controller can ensure the trajectory tracking errors of surface vehicles converge to the neighborhood around the origin within a finite time by using continuous feedback. The finite-time stability of the closed-loop control system is then strictly proved using the Lyapunov theory. Finally, the simulation results are provided to demonstrate the effectiveness of the proposed control scheme.