The invention relates to a precise guidance technology, in particular to a guidance method with terminal angular constraint and overload constraint, and belongs to the technical field of missile guidance of mechanical engineering. The method comprises the steps that one, a terminal angular prediction model is established; two, an overload constraint model is established; three; an initial value which meets a hitting angle is searched through the terminal angular prediction model; four, the overload constraint model is used for determining a turn ratio distance; five, an initial value which meets the terminal angular constraint and the overload constraint is searched for, and a proportional navigation method is started to guide after the initial value is reached. The method has the advantages that the demand of terminal angular constraint can be met, a guidance instruction is simple, and the engineering practicability is higher.