A multi-objective gliding trajectory optimization scheme was proposed for hypersonic vehicles with complicated constraints, such as aerodynamic heating, overload, dynamic pressure, control variables, waypoint, no-fly zones, and terminal states. The pole-transformed motion equations were deduced to simplify some of the constraints and to avoid the singularity of the traditional motion equations. Furthermore, the physical programming was employed to convert the multi-objective optimization problem to a single optimization objective problem considering the designer′s preference. Based on the multi-phase Gauss pseudospectral method, the optimal control problem of the single objective trajectory optimization problem was converted to a nonlinear programming problem. Results demonstrate that the algorithm can generate optimal gliding trajectories satisfying all the complicated constraints while the designer′s preference can be taken into consideration.