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In this paper, a terminal guidance law based on the MGEKF theory and variable structure control, which considered the target maneuverability and the relative velocity of the UAV-target, was designed for anti-radar UAV. Taking the idea of disturbance inflexibility of the variable structure control, the guidance law is designed and the rates of zeroing the LOS(line-of-sight) is realized, under the condition of taking the acceleration of target as a disturbance with boundary. Then, as the relative velocity of the UAV-target is immeasurable, the statement estimating of typical maneuvering model of target is presented. Finally, it is proved by simulation that the miss distance of the guidance law is better than the traditional PN law and the results validate its effectiveness.