The methods of missile formation reconfiguration optimal trajectory generating and control are described. Given a formation of intelligence missiles, an initial configuration, a final configuration, a time for reconfiguration, and a set of inter- and intramissile constraint, reconfiguration trajectory generation and control problems focused on determining and controlling a normal input trajectory for each intelligence missile such that every intelligence missile can fly as the expected optimal trajectory while satisfying all the sets of constraints. In this paper, solving the optimal trajectory generation problem by posing the input as a polynomial form and analyzing the symbolic reachability computation based on the quantifier elimination theory is of interest. A combination of proportion and differential control with the position error is used in the design of the missile formation controller used to track the optimal transfer trajectory. Simulations by the package REGLOG demonstrate that the optimal transfer trajectory generation process is feasible; the controller is capable of tracking the optimal transfer trajectory.