For the reentry terminal guidance problem of ballistic missile with constraint of impact angle, a nonlinear suboptimal guidance law that not only precisely attacks the ground target, but also satisfies the requirement of the terminal angle is designed based on the model predictive static programming technology proposed recently. The flight scenes that the ballistic missile attacks against stationary targets and maneuvering targets are simulated in this paper. The simulation results show that the designed guidance law spends less energy than the APN law. Compared with other guidance laws with impact angle constraint, the designed guidance handles the nonlinear problem as it is (without linearization), and the computational complexity is significantly lower than the guidance law with the angle constraint based on optimal control theory.