A novel entry guidance command generation (EGCG) method for hypersonic glide vehicles (HGVs) is proposed in this paper. Apart from the conventional path constraints, terminal constraints, and multiple stationary geographic constraints, the method takes into account several threats that HGVs must avoid during the entry process. The threats are classified into covert threats and dynamic threats. The information of covert threats needs to be detected during the entry process, and the positions of dynamic threats are even unfixed. A piecewise analytical polynomial height-velocity profile is used to derive an analytical magnitude expression for bank angle commands. The profile is capable of taking full advantage of the width of the entry corridor and satisfying large range requirements in flight missions. An improved artificial potential field (IAPF) is introduced to formulate the lateral guidance law, which allows the HGV to pass all the waypoints, circumvent no-fly zones, and maneuver to avoid threats. Finally, several simulations are conducted to demonstrate the effectiveness of the designed method. The proposed EGCG method exhibits a superior ability to satisfy multiple constraints and avoid threats, accuracy to target point arrival, and strong robustness against uncertainties and deviations.