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The project is being developed at Google X, the company's clandestine tech research arm, which is also responsible for its self-driving car.
Project Wing has been running for two years, but was a secret until now.
Google said that its long-term goal was to develop drones that could be used for disaster relief by delivering aid to isolated areas.
They could be used after earthquakes, floods, or extreme weather events, the company suggested, to take small items such as medicines or batteries to people in areas that conventional vehicles cannot reach.
"Even just a few of these, being able to shuttle nearly continuously could service a very large number of people in an emergency situation," explained Astro Teller, Captain of Moonshots - Google X's name for big-thinking projects.
Google's self-flying vehicle project was first conceived of as a way to deliver defibrillator kits to people suspected of having heart attacks. The idea was that the drones would transport the equipment faster than an ambulance could.
"When you have a tool like this you can really allow the operators of those emergency services to add an entirely new dimension to the set of tools and solutions that they can think of," said Dave Voss, incoming leader of Project Wing.
The prototype vehicles that the company has built have successfully been tested by delivering packages to remote farms in Queensland, Australia, from neighbouring properties.
Australia was selected as a test site due to what Google calls "progressive" rules about the use of drones, which are more tightly controlled in other parts of the world.
Project Wing's aircraft have a wingspan of approximately 1.5m (4.9ft) and have four electrically driven propellers.
The total weight, including the package to be delivered, is approximately 10kg (22lb). The aircraft itself accounts for the bulk of that at 8.5kg (18.7lb).
The small, white glossy machine has a "blended wing" design where the entire body of the aircraft provides lift.
The vehicle is known as a "tail sitter" - since it rests on the ground with its propellers pointed straight up, but then transitions into a horizontal flight pattern.
This dual mode operation gives the self-flying vehicle some of the benefits of both planes and helicopters.
It can take off or land without a runway, and can hold its position hovering in one spot. It can also fly quickly and efficiently, allowing it to cover larger distances than the more traditional quadcopter vehicles available commercially.
The vehicles are pre-programmed with a destination, but then left to fly themselves there automatically.
This differs from many military drone aircraft, which are often remotely controlled by a pilot on the ground, sometimes on the other side of the world.
Eventually Google said it could use unmanned flying vehicles to deliver shopping items to consumers at home. That's a use that retail giant Amazon has already stated an interest in, with its proposed Prime Air service - the announcement of which generated headlines at the end of last year:
Amazon has asked the US Federal Aviation Administration for permission to conduct outdoor tests.
"The things we would do there are not unlike what is traditionally done in aerospace," said Mr Voss.
"It will be clear for us what level of redundancy we need in the controls and sensors, the computers that are onboard, and the motors, and how they are able to fail gracefully such that you don't have catastrophic problems occurring."
Other unusual vehicles have been investigated for humanitarian aid, including flying cars and hoverbikes, with the same aims of reaching cut-off areas quickly.
"We will have to see what kind of specific technology works best within the aid landscape, and if the new technology can integrate positively in the local context," said Lou Del Bello from news site SciDev.net, speaking about the category in general.
"It will need to demonstrate it can be cost effective, and respond to actual needs of local people."
You can hear more about Google's self-flying vehicles on The Science Hour this weekend on the BBC World Service
Google has built and tested autonomous aerial vehicles, which it believes could be used for goods deliveries.

Nixon, 38, took over as interim boss in December following the departure of Niall Currie and has steered the club to safety in the Irish Premiership.
Ards have lost just one of their last six league games and are up to eighth place, one point behind Dungannon.
"My aim is to stabilise Ards status as a Premiership club," he told BBC Sport NI.
"I want to thank the chairman and board of directors for showing faith in me."
Nixon made a record 792 appearances for Glentoran and is a Uefa A Licence holder.
He was appointed as Ards' Academy head coach in 2015 and was manager of Harland & Wolff Welders U20s before replacing Currie at Ards.
Nixon's in-form side is away to struggling Carrick Rangers on Saturday.
"Since arriving at the club Colin has really impressed the board with his training sessions, fitness work, preparations, eye for detail and his interest in our Academy and Under 20s team," said Ards chairman Brian Adams.
"The board were, therefore, unanimous in their decision to make Colin's position permanent.
"I am delighted that Colin has agreed to take the job and I am hopeful he can take us forward.
"We're an ambitious club and Colin is an ambitious manager, so it's a perfect fit."
Ards have secured the services of Colin Nixon as manager on a permanent basis for the next two years.

He was returning to the chamber less than a week after announcing his Budget, with one of its measures already dead and others surviving only after life support.
Had George Osborne himself been left fatally weakened by Iain Duncan Smith's resignation?
Certainly his authority was in question.
Mr Osborne's critics wanted to know how he was going to fill a Â£4.4bn "black hole" left by the U-turn over disability payments.
Labour had pointed to another gap - left by a man they said was too "scared" to answer their urgent Commons question over all of this on Monday.
But now here he was at the dispatch box - a chancellor opening the final day of a Budget debate, something that he pointed out had not happened in 20 years.
As he got to his feet the body language from MPs behind him seemed positive; there was the sound of rousing support as he began to speak.
The mood in the chamber immediately calmed as the chancellor began by paying tribute to the victims of the tragic events in Belgium.
It was a reminder, said Mr Osborne, of "what a precious thing our democracy is".
Today's Budget debate was part of that democratic process, he said, before a nod of euphemism to the significant problems he had been having.
"I think it's fair to say that we've had a livelier debate about this Budget than many."
So what of his solutions? It was clear that the chancellor was opting for spiritual healing rather than keyhole surgery.
His departed colleague Mr Duncan Smith was praised for having helped to create a fairer society.
The chancellor even dared to reclaim the mantra the former work and pensions secretary questioned in his resignation letter - "we are all in this together" he promised.
It would set the tone for the chancellor's statement, which was more often about the big picture on the economy rather than the fiscal detail.
"Without sound public finances there is no social justice," he said.
The cost of the disability payments U-turn could be "absorbed", he declared.
But it was far from an answer for Labour MPs, who punctuated the chancellor's statement with critical interruptions.
Shadow chancellor John McDonnell said Mr Osborne's behaviour called into question his fitness for the office he holds.
"What we've seen is not the actions of a chancellor... but the grubby incompetent manipulations of a political chancer," he said.
Mr Osborne got what he predicted - a lively debate on the budget; healing the problems it leaves him may take some time longer.

With open wounds in his party, a gap in his finances and questions over his competence the chancellor had much to try to heal.

