Abstract: A full phase dynamic motion model of boost–glide vehicle is established in this paper. Firstly, the translational equations which include boost phase equation in Cartesian coordinates and glide phase equation in polar coordinates are promoted. Then the formulation of link point between the two phases in different coordinates is derived to cover the full dynamic motion model of boost–glide trajectory. At last, the continuity of the trajectory between different coordinates is demonstrated by full phase trajectory simulation. Given launch point parameters and control variables of the trajectory, the full trajectory and footprint of glide phase can be obtained based on this model to support the trajectory optimization and fast evaluation of maneuverability for boost–glide vehicle.