A new integrated estimation and guidance design approach is presented as a computationally effective procedure for interception of maneuvering targets. This is an adaptive approach that uses the following elements: banks of state estimators, and guidance laws, a maneuver detector for the onset of the target's maneuver, and a hierarchical decision law for online selection of the estimator/guidance law pair to be employed. Simulation results confirm that the adaptive approach leads to a reduction in the miss distance as compared with cases in which only a single estimator/guidance law combination is available.