E-commerce companies have implemented the same-day delivery model to meet customers’ demand for prompt courier services. To enhance delivery efficiency and reduce costs, the use of drones in collaboration with truck delivery and replenishment is studied. Divide a complete delivery cycle into multiple scheduling decisions based on the completion time of the delivery, and the solution of each scheduling decision is based on enumeration. The problem is decomposed into multiple mixed integer programming subproblems, and the efficiency of solving the subproblems is improved by using an improved adaptive large neighborhood search algorithm. Experimental results demonstrate that the enhanced adaptive large neighborhood search algorithm significantly reduces solving time without compromising solution quality. Furthermore, compared with using UAVs solely for replenishment or delivery purposes, the simultaneous utilization of UAVs for both replenishment and delivery effectively enhances distribution efficiency while reducing overall costs.