A novel Control Lyapunov Function (CLF) based robust inverse optimal control law incorporated with Extended State Observer (ESO) is proposed for spacecraft attitude stabilization under uncertainties in this paper.More specifically,an ESO is investigated to estimate all the states of the system,which is used to compensate specified total uncertainties including actuator/inertial uncertainties.And also the uniformly ultimately bounded stable in finite time of ESO is guaranteed via a rigorous Lyapunov analysis.Moreover,an inverse optimal CLF approach is presented to guarantee the asymptotically stable of the closed-loop system,and energy optimal/minimum performance index can be achieved simultaneously,which are proved utilizing CLF based analysis.The key feature of the proposed strategy is that it stabilizes asymptotically the closed-loop system from the point view of energy optimal with respect to a meaningful cost function,even in the presence of actuator and inertial uncertainties.Simulation results are presented to illustrate the performance of the proposed scheme.