This paper presents a method for designing the trajectory of a cruise missile, taking into account the avoidance of threats. The authors conducted a study on the researched guidance laws that optimize the consideration of kinematic errors. The novelty of the research lies in constructing a trajectory for the missile that considers the avoidance of threats using selected control signals, namely normal acceleration in the horizontal planes. To validate the research results, simulations were performed using Matlab Simulink. The obtained results demonstrate the feasibility of the proposed trajectory, as the missile successfully follows the terrain, avoids threats, and successfully eliminates predetermined targets. The application of the research findings extends to trajectory design for aerial vehicles in general, with a particular focus on cruise missiles.