In this paper, we focus on the consensus problem in terms of angular velocity and attitude for heterogeneous rigid bodies over a fixed undirected connected graph. The bodies’ inertia matrices are partially or entirely unknown. We formulate the rigid body kinematics in terms of the 3D rotation group SO(3) which is a Lie group. First, we present the decentralized control protocol for N reference rigid bodies whose inertia matrices are the identity matrix. Then, we present a model reference adaptive control algorithm to guarantee that each actual rigid body asymptotically tracks the corresponding reference model; therefore, they can reach consensus as their reference counterparts do. Finally, we demonstrate the efficacy of the proposed method through a numerical example and compare its performance with the nominal controller without adaptation.