An adapting dynamic inversion guidance law developed by using integral of time multiply by absolute error (ITAE) performance index for a hypersonic vehicle was studied. As a nominal trajectory, Maximum-Range glide trajectory was obtained by using collocation and successive quadratic programming. Dynamic inversion technique was employed to produce a guidance law which contains two PID controllers. To find optimal guidance parameters, ITAE criteria were used to tune the PID parameters. The numerical result showed that the guidance law was simple and efficient for a hypersonic vehicle flies along the optimal trajectory.