For axial force-controlled missiles, an improved Guidance to Collision (GC) guidance law based on finite-time convergence theory is proposed, which can make the missile fly along a straight line to the predicted impact point. Unlike previous studies, the improved GC guidance law takes into account the target maneuverability and missile attitude angular rate constraints, ensuring precise hits on maneuvering targets. Through simulation verification, it is obtained that under the target maneuver condition, the miss distance satisfies the direct hit condition, and has engineering application value.