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An iterative dynamic programming (iDP) is proposed along with an adaptive objective function for solving optimal control problem (OCP) with isoperimetric constraint. Its application is investigated for optimal eco-driving control problem in electric vehicle (EV). The proposed method reduces the computational effort and enhances the global convergence of using iDP. Numerical calculations show that for the same computational time, the proposed method guarantees higher quality of solution when compared to basic iDP. In addition, the proposed method also achieves high accuracy of optimal solution with much less computational time than basic dynamic programming (DP), thus allowing for potential on-line implementation. Furthermore, the proposed iDP is successful in solving the optimal eco-driving control problem of EV with very long operational range.