In this paper, an iterative method is proposed for nonlinear frequency modulation (NLFM) waveform design based on a constrained optimization problem using Lagrangian method. To date, NLFM waveform design methods have been performed based on the stationary phase concept which we have already used it in a previous work. The proposed method has been implemented for six windows of Raised-Cosine, Taylor, Chebyshev, Gaussian, Poisson, and Kaiser. The results reveals that the peak sidelobe level of autocorrelation function reduces about an average of 5 dB in our proposed method compared with the stationary phase method, and an optimum peak sidelobe level is achieved. The minimum error of the proposed method decreases in each iteration which is demonstrated using mathematical relations and simulation. The trend decrement of minimum error guarantees convergence of the proposed method.