A PIGC (partial integrated guidance and control) design approach for the homing missile with 3D (three dimensional ) impact angle constraints was proposed. The 6DoF (six-degree-of-freedom) dynamic and kinematical equations of the translational and rotational loops of the homing missile were designed. For implementing the PIGC scheme, a two loop control structure was adopted. The outer loop model based on the 3D relative dynamics and the precise coordinate transformations was employed. The desired angle of attack and the sideslip angle were obtained with the help of the sliding mode control theory and the ESO (extended state observer). A linear form dynamic model of the rotational loop was derived. The sliding surface vector with respect to desired roll, yaw, and pitch angles was conducted and the anticipate control surface fin deflections were obtained based on the ESO. Finally, the effectiveness and robustness of the newly proposed PIGC scheme are investigated and verified via appropriate 6DoF nonlinear simulation studies with respect to the ground fixed target.