This study focuses on a unique class of periodic orbits called heteroclinic orbits in cislunar space. These orbits exhibit periodic motion between the L1 and L2 libration points within the framework of the circular restricted three-body problem (CRTBP). They can serve as channels for transportation between these regions, facilitating periodic low-energy resource exchange. Moreover, spacecrafts in these orbits can provide extensive coverage of the lunar surface, making them highly suitable for a variety of lunar missions, including lunar surveillance, lunar base relay communications, lunar navigation, and other critical tasks. Low-thrust engines, characterized by their high specific impulse and extended operational duration, have been adapted for deep space exploration. A large number of studies have proposed the effectiveness of employing low-thrust engines for spacecraft control in cislunar space. In this paper, we calculate the optimal low-thrust transfer trajectory from a geostationary orbit to a heteroclinic orbit based on Pontryagin’s maximum principle. Additionally, a simulation example using heteroclinic orbits for transfer from the L2 halo orbit to the L1 halo orbit is demonstrated, providing a comprehensive evaluation of their capabilities and validating their potential utilization in future lunar missions. The results obtained from this study contribute to advancing our understanding of trajectory optimization and heteroclinic orbits, paving the way for practical applications in lunar exploration and mission planning.