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In dynamic complex environments, it is inevitable for UAVs to be damaged due to their confrontational nature. The challenge to minimize the adverse effects of the damage and reallocate the mission is vital for achieving the operational goal. This paper proposes a distributed Multi-UAV mission reallocation method in the case of UAV damage based on the improved consensus-based bundle algorithm (CBBA). Firstly, a dynamic optimization model for Multi-UAV mission reallocation is established based on an improved resource update model. Secondly, a distributed damage inspection method based on the heartbeat hold mechanism is proposed for real-time monitoring of UAV conditions, which could enable the rapid response to UAV damage events. Furthermore, the CBBA is improved by introducing a timeliness parameter to adjust the bidding strategy and optimizing the mission selection strategy based on the time-order priority insertion principle to generate mission reallocation plans quickly. Through numerical examples, the results show that the proposed method can effectively reallocate Multi-UAV missions under damage events and has superior performance compared with original the CBBA, the particle swarm optimization (PSO) algorithm, and the performance impact (PI) algorithm. The proposed method has a faster solving speed, while the obtained solution has higher mission reallocation effectiveness.