This paper discusses the aerodynamic model and optimization framework adopted to generate a threedimensional (3D) perching trajectory that ameliorates the existing 2D perching concept by eliminating the undershoot and the reliance of gravity. A 3D maneuvering technique is introduced that methodically utilizes the longitudinal and lateral drag mechanisms. Via this application, a conventional fixed wing unmanned aerial vehicle (UAV) with thrust-to-weight ratio less than unity promptly attains over 70% velocity reduction without compromising the bearing of the final flight path. Since perching maneuver involves high rates of change in the angle of attack, the effect of moving separation point on the transient post-stall behavior is apparent. A static nonlinear aerodynamic model that is developed using empirical and analytical methods provides the basis to describe the variation of the separation point at different angles of attack. An internal variable is included as a state variable to describe flow state and address dynamic stall effects under rapid change of angle of attack and sideslip angles. The optimization procedure reveals a trajectory of sideslip perching maneuver that differs significantly with the trajectory generated without the consideration of dynamic stall effects. Comparisons in perching distance and time taken between 2D and 3D perching models further show that 3D perching is a more aggressive and efficient deceleration technique. Nomenclature = body base area = planform area = acceleration = span = chord length = drag and lift coefficients = force coefficients in body axes = crossflow drag coefficient = yaw and pitch moment = gravitational constant = mass moments of inertia about body axis = cross products of inerta = induced drag factor = fuselage length = mass = roll, pitch and yaw rates = wing area = time = longitudinal, lateral, and vertical airspeed components T = total velocity U,V,W = velocities in the body axes = fuselage volume = separation internal variable = axial distance from body nose to centroid of body planform area = axial distance from body nose to center of gravity of aircraft = angle of attack = angle of slide slip = angle of analytical slide slip 1 PhD Student, = correction factor for influence of fineness ration on = deflections of aileron, elevator and rudder = angles of roll, pitch and yaw = characteristic times Subscripts = attached flow regime = separated flow regime = wing = tail = vertical tail