Abstract: To solve the guidance problem of precision strike mission with the process constraint of seeker’s field-of-view (FOV) limits, a guidance law considering FOV limits and multiple constraints of impact angle and time was proposed. Firstly, based on the proportional navigation (PN) term to achieve accurate hit, utilizing the optimal control theory and the index function in the form of missile-target distance weighted control energy consumption, the impact angle control term was designed, and the corresponding analytical prediction formula of time-to-go was derived. Next, based on the optimal error dynamics method, an impact time-dependent control term was designed to ensure the finite time convergence of the impact time error. At the same time, regarding the seeker’s FOV limits, the effects of each control term on the convergence of the lead angle were analyzed, a specific restriction function was used to ensure that the lead angle was always in the effective FOV during the whole guidance, and the boundedness and convergence of the lead angle were also proved. Numerical simulation results demonstrate the effectiveness of the proposed guidance law for multi-constraint guidance problems.