The trajectory tracking problem of unmanned surface vehicles (USVs) with external disturbances and input constraints, under denial of service (DoS) is addressed in this paper. We propose a predictive compensator based event-triggered model predictive control with nonlinear disturbance observer (PC-ETMPC with NDO) strategy. A model predictive controller (MPC) based on a nominal USV model is combined with a nonlinear disturbance observer (NDO) to estimate and compensate external disturbances. A predictive compensator (PC) is used to compensate network attack signals, which reduces the adverse impact of cyber-attack on the system, and an event-triggered mechanism is used to save computational resources of the calculation of the MPC. The proposed strategy is feasible for implementation, and its stability is proved to ensure the stable operation of the system. Numerical simulations and comparison are performed to demonstrate the effectiveness and superiority of the proposed control strategy.