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Over the past decades, Unmanned Aerial Vehicles (UAVs) have increasingly been used in a wide variety of missions that range from surveillance to delivery. Unlike aircraft that always carry goods and passengers from an airport to another, UAVs do not systematically implement the same type of mission. UAVs are indeed multi‐mission during their time in operation, and the systems engineering approaches developed for one mission aircraft must be adapted to the multi‐mission context. Therefore, UAV design requires application of mission engineering upstream systems engineering, either to assess there is a UAV system that may accomplish a new mission, or to specify a new UAV system according to a given mission. To achieve that goal, the authors of the paper support the use of Model‐Based Mission Engineering. A three‐layer architecture ‐ purpose, operation, functions or capabilities ‐ is proposed as a design framework for missions. The Goal‐Oriented Requirements Language (GRL) serves as mission description language. The paper extends GRL to better address mission‐based design of UAVs. It is proposed to distinguish between internal and external resources. A goal detailing mechanism is introduced. A degraded mode evaluation becomes possible. GRL tools make it possible to evaluate how much a UAV system ‐ at least, an operator, a ground station, and a UAV ‐ may satisfy every stakeholder in both nominal and degraded modes. The proposed approach is applied to a high voltage surveillance UAV. The case study enables the introduction of four actors—Authority, Client, UAV and MissionSupervisor—that turn out to be generic and can be reused for other missions and UAV designs. [ABSTRACT FROM AUTHOR]