The fault character of pyramid configuration single gimbal control moment gyroscopes (SGCMG) was analyzed. The calculation approach solving the replanned attitude maneuver path was proposed based on the Legendre pseudo spectral method. Considering the unpredictability of the SGCMG fault, an adaptive steering law was designed. Using this steering law, the fault state of SGCMG was detected and the parameters of the steering law was self-tuned. The simulation results reveal that, the large angle attitude maneuver can be accomplished by using the path replanned method and the adaptive steering law, when the SGCMG encounter partial fault. The proposed method can cope with the partial fault state of the SGCMG during attitude maneuver effectively, thus improving the security and reliability of the space station attitude maneuver mission.