For the tracking performance problem of hypersonic vehicle with actuator constraints of amplitude and rate, a prescribed performance control scheme based on constrained command filter was proposed. In order to improve the transient and steady state performance of the system, a prescribed performance backstepping controller was designed. And a new performance function was designed to reduce the tracking error overshot. A command filter was introduced to solve the problem of difficult derivation in the design of backstepping controller. For the problem of limited input, a constrained command filter was constructed to constrain the control law of the system, which guaranteed that the control input meet the limit requirements of amplitude and rate, and the corresponding theoretical proof was carried out. In addition, the linear extended state observer was used to observe and compensate the system parameter uncertainties and external disturbances. Based on Lyapunov stability theory, it was proved that all tracking errors of the system are ultimately uniformly bounded. The effectiveness of the proposed method was verified by simulation.