In this paper, the doxorubicin (DOX)-loaded micelles were prepared based on a novel folic acid conjugated pH-dependent thermo-sensitive copolymer poly(D,L-lactic acid)-b-poly(N-isopropyl methacrylamide-co-N-isopropylmaelic acid-co-10-undecenoic acid) (PLA-PNNUA-FA) constructed to provide an active targeting drug delivery and triggered drug release system. The micelles were able to target tumors through the interaction between folic acid and its receptors which are overexpressed on the tumor cell membrane, and achieved pH-dependent thermo induced drug release in the intracellular mild acidic media such as endosomes and lysosomes after the micelles enter the cells. The results of cell assays and animal experiments showed that the micelles exhibited obvious tumor penetration efficiency in vivo, also improved DOX cell uptake and cytotoxicity in vitro. It was suggested that copolymer PLA-PNNUA-FA might be a potential targeted drug carrier to deliver chemotherapeutic drugs achieving better efficacy of chemotherapy.