A novel three dimensional autonomous reentry guidance method satisfying heat fl ux, overload, dy namic pressure, waypoints and other path and terminal constraints is proposed. T he reentry trajectory is divided into the initial and glide phases. In the initi al phase, a nominal angle of attack and a constant bank angle are used to generate the trajectory. And the glide phase is designed based on drag acceleration versu s energy profile which is obtained by using the interpolation between the upper boundary and the lower boundary of the reentry corridor. The magnitude of the ba nk angle can be decided through the profile, and the sign of bank angle is determi ned by lateral planner satisfying the waypoints constraints. Simulation results show that the proposed reentry guidance method can generate trajectories satisfy in g path and terminal constraints.