Concerning the delay of related task scheduling in cloud computing, a Related Task Scheduling algorithm based on Task Hierarchy and Time Constraint (RTS-THTC) was proposed. The related tasks and task execution order were represented by Directed Acyclic Graph (DAG), and the task execution concurrency was improved by using the proposed hierarchical task model. Through the calculation of the total time constraint in each task layer, the tasks were dispatched to the resource with the minimum execution time. The experimental results demonstrate that the proposed RTS-THTC algorithm can achieve better performance than Heterogeneous Earliest-Finish-Time (HEFT) algorithm in the terms of the total execution time and task delay.