To research the problem of designing hypersonic glide vehicle's no-fly zone evasion trajectory, a maneuver evasion trajectory optimization design method based on joint point is proposed. The hypersonic glide vehicle's trajectory is divided into several stages by joint points. Based on this concept, the design of hypersonic glide vehicle's maneuver evasion trajectory based on joint is implemented utilizing adaptive pseudospectral method's ability of solving multi-stage optimization problems and adjusting collocation points' distribution. The simulation results get maneuver evasion trajectories that can meet varieties of constraints and evade no-fly zones under different circumstances. It is demonstrated that this method is able to be used for the substantial lateral maneuver trajectory's design. Moreover, the joint points' positions can control the maneuver evasion trajectory's shape.