Abstract: A cooperative guidance law was proposed for intercepting hypersonic target with constrained impact angle. In the direction of perpendicular to the line-of-sight (LOS), the acceleration command was developed based on the nonlinear disturbance observer and the nonsingular terminal sliding mode theory to ensure the LOS rate converging to zero and the LOS angle converging to the desired angle, i.e. the constrained impact angle. Along the LOS direction, the acceleration command was designed based on the multi-agent consensus control algorithm to ensure all the relative distances from the missiles to the target reaching the agreement in finite time and every missile hitting the target at same time. Simulation results for the scenario of four missiles intercepting a hypersonic target demonstrate the effectiveness of the proposed guidance law.