The maneuver strategy solving method for fighter avoiding the attack from missile in the endgame is developed by using the theory of nonlinear model predictive control. According to the situation of the engagement of missile and fighter, the motion differential equation was established. The guidance law was introduced into the missile kinematic model, and the system predictive model was set up together with the fighter’s model. Then, the kinematic constraint of the fighter and missile was analyzed. The performance indices of the fighter avoiding missile attack were proposed based on the analysis of the structure limitation and tactical characteristics of missile and the optimal control model was built. The Gauss Pseudospectral Method was used to solve the model, and the close-loop solution is realistic by using the RHC strategy. The Maximum Likelihood Estimation method was used to estimate the aerodynamic parameter and navigation ratio aiming at the problem of the uncertain and measurement noise, and the feedback correction of the system predictive model is realistic. The numerical simulation result shows that the maneuvering strategy can help the fighter avoid the missile attack.