This paper presents design process, fabrication and flight testing of a micro fixed-wing Unmanned Aerial Vehicle (UAV) that is capable of autonomous flight according to a predefined trajectory. The design process includes preliminary design, numerical simulations and wind-tunnel experiments of the aerodynamic characteristics of the UAV model. Autonomous control system hardware consists of a master board and a sensor board. The master board receives the data from the sensor board, carries out the processing and sends the control commands to engine and servos. The UAV is fabricated and integrates the autopilot system. Autopilot flight tests with different trajectories validate the trajectory tracking capability with high accuracy of the developed UAV.