In order to formulate tactical indicators and mission plan，the footprint for multiple-pulse missile was investigated. The footprint optimization problem can be transformed into an optimal control problem by introducing the cost function which is formulated as a weighted combination of down-range and cross-range. A multiple constraints and phases trajectory optimization model of double optimization design variables that are composed by the angle of attack and slip angle was established，and using the hp-adaptive pseudo-spectral method to solve it. Moreover, the effects of multiple-pulse motor parameters and terminal constraints on the footprint were emphatically analyzed. Simulation results show the efficiency of the proposed method in solving the footprint optimization design problem with multiple constraints and phases. The smaller interval time of multiple-pulse missile motor，the greater of thrust radio and the smaller mass radio of the pulse motor are corresponded to a bigger footprint. Compared with the terminal velocity, the impact angle affects the footprint to a lesser degree．