For the safety reentry flight problem of hypersonic vehicle at fault, a robust trajectory reshaping algorithm is proposed based on the neighboring feasible trajectory existence theorem (NFTET) under the large failure of the vehicle. In the nominal case, an improved predictorcorrector guidance law based on the feedback linearization theory is proposed to generate the reentry trajectory for satisfying the various constraints. Since NFTET is only applied to the occurrence of small failures, to ensure the safe landing with high precision under the large failure, the robust trajectory reshaping algorithm is designed based on NFTET, and the higher landing accuracy of the flight path is obtained. The simulation results show that the algorithm proposed in this paper can effectively solve the problem of the safety reentry trajectory reshaping under the large failure of vehicle, and improve the autonomous fault tolerance ability of the vehicle.