In this paper, a cooperative interception strategy based on target trajectory prediction is proposed to satisfy both attack angle constraints and interception time constraints, which can effectively counter the attack of hypersonic vehicle. Firstly, after trajectory tracking of the target, the predicted trajectory is obtained by function fitting. Secondly, the trajectory planning based on model predictive static programming (MPSP) enable the missile to approach the target with the expected angle-of-attack. Thirdly, by delaying the interception with the impulse manoeuvre of the missile, a temporal cooperative interception is achieved. Finally, the cooperative interception simulation of two missiles against a maneuverable hypersonic target verifies the feasibility and effectiveness of the interception strategy in this paper.