Abstract
Based on the invariance of differential equations under infinitesimal transformations, Lie symmetry, laws of conservations, perturbation to the symmetries and adiabatic invariants of Poincaré equations are presented. The concepts of Lie symmetry and higher order adiabatic invariants of Poincaré equations are proposed. The conditions for existence of the exact invariants and adiabatic invariants are proved and their forms are also given. In addition, an example is presented to illustrate these results.