According to the unique mission form of unmanned aerial vehicle(UAV) swarm, the elements of UAV swarm cooperating to complete missions are analyzed, and an index system for evaluating UAV swarm mission capability is proposed from two dimensions of autonomy capability and coordination capability, based on which the testing and evaluation algorithm for UAV swarm mission capability is proposed. According to the proposed index system and evaluation algorithm, a complete testing and evaluation process of swarm mission capability based on semi-physical simulation test is proposed, and a scenario generation system for constructing evaluation scenarios is presented. The proposed testing and evaluation system is verified by a semi-physical simulation example of UAV swarm, whose results show that the proposed testing and evaluation system is effective, and can accurately evaluate the mission capability of UAV swarm.