This paper presents a novel path planning method for the underwater glider (UG), termed the Underwater Glider Path Planning with Optimal Motion Parameters (UGPP-OMP). This method enables the UG to determine optimal path points, pitch angles, and diving depths according to mission requirements and oceanic conditions. Firstly, we establish an energy consumption model for the UG. Secondly, we design the decision variables and encoding method for the UGPP-OMP, along with deriving the fitness function for optimizing energy-efficient missions. To address the above optimization problem, we employ a state-of-the-art differential evolution algorithm as the optimizer. Finally, we conduct comparative simulation experiments between the UGPP-OMP method and two classical path planning approaches. The results confirm the effectiveness of the UGPP-OMP method, demonstrating its ability to enhance the UG's adaptability to ocean currents and seafloor topography.