In order to achieve cooperative saturation attack of multi-missiles on the same target, the nonlinear relative motion model is designed based on the relative motion relationship between the missile and the target, and a multi-missile time coordination three-dimensional guidance law is proposed based on the leader-follower cooperative guidance model. In the guidance law, the leader missile adopts three-dimensional pure proportional navigation guidance, and follower missiles use three-dimensional pure proportional navigation guidance and dynamic inverse control. To achieve the consistent impact time, the follower nonlinear model is divided into a fast subsystem and a slow subsystem according to the time-scale separation method, and then feedback linearization of two subsystems is achieved based on dynamic inverse system theory to complete the cooperative control of the follower. Simulation results show that the use of this cooperative guidance rate can enable the missiles to hit the target at the same time, effectively achieving the coordination of attack time.