<p>Attitude planning of rigid bodies has many applications in robotics and aerospace. However, because the attitude configuration space is non-Euclidean and the constraints are complex and non-linear, the design of the attitude curve has always been a tricky problem. In this paper, a gradient-based attitude planning method is proposed to simultaneously handle attitude pointing, angular velocity, torque, and time constraints on Lie group SO(3). Firstly, the attitude interpolation algorithm on SO(3) gives an attitude curve connecting the initial and target attitudes. The shape of the curve is determined by the fitting coefficients and maneuvering time. Secondly, to match the curve with suitable angular velocity and control torque, a nonlinear planning model with fitting coefficients and maneuver time as decision variables is proposed. Solving the problem gives a smooth attitude curve that satisfies both kinematic and dynamic constraints and also avoids complicated time allocation. Then, to apply the gradient-based solver, analytical formulas for the derivatives of each order of the attitude curve with respect to the decision variables are given in this paper. Finally, the effectiveness of the proposed algorithm is verified by a series of numerical simulations.</p>