The ability to perform vertical takeoff and landing reliably and safely is of great concern for a near space travel lander carrying passengers. Oblique and uneven terrains can severely limit the degree of landing safety, so mission adaptive landing gear is designed and analyzed for its function of automatic adjustment before touchdown. The legs of mission adaptive landing gear are composed of shock absorbers and actuating cylinders, which can adjust angles of the main struts relative to the capsule under control, ensuring all feet touch the irregular surface together. Compared with a conventional landing gear, scaled test and dynamic simulation in three typical conditions verify that the new design can reduce the rotation angle and the translational motion of the capsule to less than 3 degrees and 1 meter, respectively. For buffer process, the overall design reduces peak load of the lander by more than 24 %, enhances efficiency of the shock absorber to more than 85 % and optimizes stroke lengths of shock absorbers. While landing on a slope with an angle of less than 31 degrees, mission adaptive landing gear can ensure the capsule's maximum overload less than 5 and the capsule's attitude angle less than 20 degrees, respectively. Landing performance shows that mission adaptive landing gear is robust to uncertain conditions of the landing surface.