We explore the 3D-IGC design method for hypersonic missile which is lacking currently. A new 3D-IGC design model with more generality is deduced for hypersonic missile. A robust dynamic inversion controller is proposed to enhance the robustness of nonlinear system. A robust 3D-IGC law is proposed for hypersonic missile along with the proof of stability. The proposed 3D-IGC modeling and design method has good generality and extensionality.