This paper proposes a finite-time trajectory optimization and coordinated control method for connected vehicles based on a hierarchical control framework. In the upper layer, a finite-time distributed optimization algorithm is used to construct a vehicle reference model to generate optimal trajectory signals for minimizing the spacing errors between vehicles. In the lower layer, a terminal sliding mode tracking controller is designed to enable vehicles to track the optimal trajectory signal within a finite-time while overcoming the impact of disturbances and other uncertain factors. The stability of the control system is rigorously proven through Lyapunov analysis. Finally, numerical simulation results show the effectiveness of the proposed method.