The trajectory design for hypersonic glider vehicle subject to complex constraints is a multi-objective trajectory optimization problem. A multi-objective trajectory optimization method combining the boundary intersection method and the pseudospectral method was proposed. The multi-objective trajectory optimization problem was established based on the analysis of the features of trajectory for hypersonic glider vehicle. The multiobjective trajectory optimization problem was translated into a set of general optimization sub-problems by using the boundary intersection method and pseudospectral method. The sub-problems were solved by nonlinear programming algorithm. In the method, the solution that has been solved was employed as the initial guess for the next sub-problem. The maxima cross range and minimal peak heat problem was solved by the proposed method. The numerical results demonstrate that the proposed method can obtain the Pareto front of the optimal trajectory, which can provide reference for the trajectory design for hypersonic glider vehicle.