A method for directly planning a reentry trajectory in a height-velocity profile includes the following steps: S1, extracting an actual working parameter of an aircraft, setting the maximum value {dot over (Q)}max of a stagnation point heat flux, the maximum value qmax of dynamic pressure, and the maximum value nmax of overload according to the mission requirement, and solving the height-velocity boundary of the reentry trajectory, that is, a lower boundary of the reentry trajectory in the height-velocity profile; S2, solving a reentry trajectory of an initial descent stage according to differential equations of reentry motion, and determining a starting point of a trajectory of a gliding stage according to the trajectory of the initial descent stage; and S3, planning a trajectory in the height-velocity profile satisfying terminal constraints based on the lower boundary in the height-velocity profile, and calculating a corresponding bank angle, to obtain the reentry trajectory.