A rapid reentry trajectory planning method based on nonlinear model prediction theory is studied for the new lifting reentry vehicle with many constraints. Since the lifting reentry characters and mission requires need to satisfy strong terminal constraints, the nonlinear predictive model and the receding optimization scheme are used to convert the nonlinear optimization into the linear optimization objection, and a quadratic programming is used to solve it. The simulation results show that the proposed method can generate a high precision reentry trajectory with strong terminal constraints.