Cooperative tracking tasks for Unmanned Underwater Vehicles (UUVs) play an increasingly important role in modern underwater warfare and surveillance. To overcome the complexities of the underwater environment and the maneuverability of targets, thereby enhancing the robustness and success rate of tracking, this paper proposes a cooperative tracking path planning algorithm for UUVs. The core of this algorithm lies in introducing the concept of a “Tracking Post,” optimizing the relative distance (Tracking Post distance) and azimuth angle (Tracking Post angle) between UUVs and the target to form a cooperative encirclement posture. This paper elaborates in detail the rule-based calculation method for the Tracking Post distance, considering key factors such as the UUV’s own performance and the target’s speed. Simultaneously, it proposes a Tracking Post angle configuration strategy based on random distribution and angle sorting to enhance the adaptability of tracking. On this basis, a tracking path planning model is constructed, including steps such as pre-Tracking Post generation, distance and angle calculation, staged velocity planning, angle adjustment, and navigation state update, while also considering planning stability. Simulation results demonstrate that the algorithm can effectively guide the UUV swarm to occupy advantageous Tracking Post, improve the stability of cooperative tracking, and increase the probability of target acquisition, laying the foundation for subsequent attack actions.