In this paper, the design and optimization method of rocket parameters based on the surrogate model and the trajectory simulation system of the 3-DOF air-launched rockets were established. The Gaussian kernel width determination method based on the relationship between local density and width is used to ensure the efficiency and reliability of the optimization method, and at the same time greatly reduces the amount of calculation. An adaptive sampling point updating method was established, which includes three stages: location sampling, exploration sampling, and potential optimal sampling of the potential feasible region. The adaptive sampling is realized by the distance constraint. Based on the precision of the surrogate model, the convergence end criterion was established, which can achieve efficient and reliable probabilistic global optimization. The objective function of the optimization problem was deduced to determine the maximum load mass and reasonable constraints were set to ensure that the rocket could successfully enter orbit. For solid engine rockets with the same take-off mass as Launcherone, the launch altitude and target orbit were optimized and analyzed, and verified by 3-DOF trajectory simulation. The surrogate-based optimization algorithm solved the problem of the overall parameter design optimization of the air-launched rocket and it provides support for the design of air-launched solid rockets.