The dimensionless equations of motion for mid-course of the boost-glide trajectory are presented and the trajectory optimization problems are solved with nonlinear programming method (NLP). Firstly, the maximum range trajectories with varied initial velocity, inclination of the velocity and maximum lift-to-drag ratio of the vehicle were generated. Then the minimal accumulated heating load and the maximum range trajectories with stagnation heating rate and load factor constraints were investigated. The numerical results of first kind trajectories show the influence of initial condition on the maximum range trajectories. The second kind of the optimal glide trajectory was compared with the pure ballistic trajectory under the same condition. The results show that the maximum heating rate of glide reentry declines while the heat load of the glide trajectory increases. Furthermore, the flight time of the glide is within the tolerance of the Thermo Protection System (TPS) of conical shape maneuver reentry vehicles.