The invention discloses an agile satellite scheduling method. In the method provided by the invention, whether to allow the insertion of a current observation task or not is determined based on the relaxation time of an observation time window of the current observation task during the insertion of the current observation task if an agile satellite needs to change the attitude. According to the invention, the method achieves the determining whether allow the insertion of the current observation task or not is determined based on the relaxation time of the observation time window of the current observation task, so as to quickly judge whether the agile satellite meets the time constraint condition of attitude conversion or not through the relaxation time, thereby simplifying the calculation to a certain degree, and greatly improving the efficiency of problem solving of the method.