An integrated design method of maneuver, guidance and control for improving the penetration capability of the missile is proposed. A maneuvering and guidance coordination guidance law is designed based on the motion tracking variable structure control theory. To solve the problems such as strong coupling, fast time-varying and uncertainties caused by perturbation of aerodynamic parameters during missile flight, the guidance and control integration system is designed by using the active disturbance rejection control technique. The simulation results indicated that the integrated system eliminates the constraints of the traditional guidance law on missile maneuverability, which significantly improves the missile maneuverability and complexity of the ballistic; The integrated control system has good dynamic characteristics and strong robustness, which can meet the requirements of penetration in the complex battlefield environment.