A nearly optimal time guidance algorithm is proposed for UAV intensive formation crossing and contesting the doorframe. Firstly, the crossing and contesting problem is described. Secondly, the guidance algorithm for single UAV crossing the doorframe is studied based on the mathematic model, which is characterized by the ability to guide the UAV onto the target point in the desired time. Finally, a crossing guidance algorithm based on flying time control and missdistance control is proposed for the crossing and contesting problem of the UAV intensive formation. The simulation results show that the proposed algorithm makes the UAV formation complete successfully the tasks, such as the cross and contest, the minimum missdistance, and the guidance time errors in the desired time, and affords the UAV formation obstacle avoidance control and collision avoidance control useful technologies.