This paper develops an efficiency-based interactive dynamic technique to design the post-disaster rescue route by combining the data envelopment analysis (DEA), traveling salesman problem (TSP) and interval-valued hesitant fuzzy constraint cone (IVHFCC). The traditional DEA potentially presumes that the weights of the input (output) criteria are unrestricted, resulting in its inapplicability to some complex decision problems. To restrict the weights of input (output) criteria legitimately, this paper constructs an IVHFCC based on expert’s subjective preferences in the form of interval-valued hesitant fuzzy sets. This paper defines the additive consistent normal interval-valued hesitant fuzzy preference relation (NIVHFPR) and analyses its desirable properties. Based on these properties, three linear programming models are proposed to repair the incomplete NIVHFPR, judge the additive consistency of the repaired NIVHFPR and generate the additive consistent NIVHFPR. By incorporating the TSP, DEA and the constructed IVHFCC, an efficiency-based interactive dynamic model is originally proposed to generate the optimal rescue route for the rescue team. Some desirable properties of this efficiency-based interactive dynamic model are analyzed. The validity of this model is demonstrated with a real post-disaster rescue route planning problem of Wenchuan earthquake. Some comparative analyses are provided to show the superiorities of the proposed technique.