The open-loop crossover frequency is pointed as an important parameter for practical autopilot design. Since different gain designs may achieve the same open-loop crossover frequency, it should be neither considered as a performance objective of the optimal autopilot design-schemes nor neglected. Besides, the main assignment of the autopilot is to drive the missile to track the acceleration commands, so the autopilot gain design should be evaluated directly according to the resultant tracking performance. For this purpose, an optimal design methodology of the three-loop missile autopilot is introduced based on constraint optimization technique, where the tracking performance is established analytically as the design objective and the open-loop crossover frequency is formed as inequality constraint function, both are manipulated in terms of stable characteristic parameters of the autopilot closed-loop. The proposed technique is implemented with the assistance of a numerical optimization algorithm which automatically adjusts the design parameters. Finally, numerical simulation results are provided to demonstrate the effectiveness and feasibility of the proposed approach compared with that in some references. The open-loop crossover frequency is pointed as an important parameter for practical autopilot design. Since different gain designs may achieve the same open-loop crossover frequency, it should be neither considered as a performance objective of the optimal autopilot design-schemes nor neglected. Besides, the main assignment of the autopilot is to drive the missile to track the acceleration commands, so the autopilot gain design should be directly according to the resultant tracking performance. For this purpose, an optimal design methodology of the three-loop missile autopilot is introduced based on constraint optimization technique, where the tracking performance is established analytically as the design objective and the open-loop crossover frequency is formed as inequality constraint function, both are manipulated in terms of stable characteristic parameters of the autopilot closed-loop. proposed technique is implemented with the assistance of a numerical optimization Finally, numerical simulation results are provided to demonstrate the effectiveness and feasibility of the proposed approach compared with that in some references.