A new three dimensional autonomous entry guidance method designed based on drag acceleration versus energy profile is proposed. The drag acceleration versus energy profile is obtained by using the interpolation between the upper boundary and the lower boundary of the entry corridor, and the bank angle uses two reverse modes, and the trajectory planning considers the longitudinal and lateral movement, and can generate the three-dimensional entry flight trajectory on board. Finally, numerical simulations for the adaptability analysis of the entry guidance method are performed. Simulation results show that the entry guidance method proposed can adapt to different entry case, and can make the vehicle reach the terminal area energy management interface accurately with a good trajectory features.