Abstract: To meet the terminal guidance requirement of penetrating guided weapon with both impact position and angle constraints, optimal guidance law with first-order guidance system dynamics was deduced by Schwartz inequality method. Then, Trajectory shaping guidance law with missile body dynamics (TSGL-D) was obtained based on small angle assumption in order to be accomplished in engineering easily. Further, the non-dimensional guided command, miss distance and impact angle error of the guidance law were studied by Schwartz inequality and adjoint-method. Simulation demonstrates that the guidance law is not only satisfied with the demands of the impact position and angle constrains, but also can make the overload at impact point return to zero, which could provide a feasible guidance strategy for controlling the impact attack angle of penetrating guided weapon.