A modeling approach for High Lift-drag ratio Re-entry Vehicle (HLRV) with parameterized configuration is presented in this paper. The modeling process involves the parameterized configuration design and inviscous hypersonic aerodynamic force calculation. Several typical configurations of hypersonic vehicles (including winged-body configuration, lifting body configuration, waverider configuration and winged-cone configuration) are proposed using the parameterized configuration design approach, which demonstrates the generality of the method. A 6 degrees of freedom (DOF) rigid-body HLRV model based on winged-cone configuration is proposed. The aerodynamic force calculation is based on engineering experimental methods and computational fluid dynamics (CFD) method. Two kinds of aerodynamic modals for simulation, engineering aerodynamic model (EAM) and merged aerodynamic model (MAM), are developed, and the advantages of MAM are revealed. The nominal HLRV model based on MAM is obtained, which is in a general form of HLRV aerodynamic model for hypersonic vehicle control design. As an example for application, vehicle optimization based on MAM is examined.