A numerical approach for analyzing the guided wave propagation behavior in a functionally graded material (FGM) hollow cylinder is presented. Based on the three-dimensional linear elasticity theory, the state matrix form of displacement and stress component is introduced into the differential governing equation. Combining with boundary conditions, the dispersion characteristic equations can be constructed. Meanwhile, taking the orthogonal completeness of Legendre series into consideration, the exhausting root findings of transcendental equation can be avoided, and it transforms the redundant integral operators into analytical expressions by means of its recursive properties. Moreover, it is not only unnecessary to stratify FGMs, and introducing the univariate nonlinear regression to modelling the arbitrary gradient distribution, and transforming the redundant integral operator into an analytical expression by means of recursive property. It should be pointed out that the coefficient matrix consists only zero and constant terms, which are related to the elastic constants and normalized wave number. And it provides a fast and effectively approach to extracting the dispersion curves, displacement distribution and stress profile, simultaneously. Meanwhile, the proposed method can get rid of the exhausted root-finding algorithm, and accordingly distinguish the different modes and the dispersion curves simultaneously. Finally, the typical non-stratified computation of dispersion curves of longitudinal guided wave for FGM hollow cylinder is realized. The accuracy of the proposed method is further demonstrated through comparison with the available data from Legendre polynomial method. Several numerical cases about iron based alumina FGM cylinder are studied, and the convergence of the present polynomial approach is discussed. Then the effect of the circumferential wave number, gradient variation, diameter-thickness ratio on the dispersion characteristics are illustrated. Moreover, the distribution characteristics of displacement and stress profiles of F(1,1) mode at a given frequency are discussed in detail. It is shown that the state-vector formalism and Legendre polynomial hybrid approach is a powerful tool in solving wave motions in FGM elastic cylinder, which lays a theoretical foundation for the non-destructive evaluation and quantitative characterization of the gradient structure characteristics of functionally graded hollow cylinder.