The invention relates to a multi-step decision-making method for planning a trajectory around multiple no-fly zones. The method comprises the following steps of 1 impact point prediction calculation,2 boundary constraint handling scheme, 3 orientation adjustment scheme, 4 proportional navigation and 5 implementation of the method for planning the trajectory around multiple no-fly zones on the basis of a multi-step decision-making theory. Compared with an off-line planning method, the trajectory planning method has the advantages that the real-time performance is high, the on-line planning speed is high, and new avoiding instructions can be generated in real time according to the task and battlefield environment requirements; and compared with a traditional on-line planning method, the trajectory planning method has the advantages that the derivation process is simple, the condition of a large amount of randomly-distributed no-fly zones can be processed, and the trajectory planning method has the higher adaptability. According to the trajectory planning method, boundary constraints of the no-fly zones can be strictly guaranteed, a flying trajectory is smooth, the required overloadis small, and the trajectory planning method has the higher guidance precision.