The aim of naval ship evacuation is to direct crewmembers form the dangerous cabins to mustering station or action station as quickly as possible, when the ship is likely to be attacked or on fire. While evacuating, the crew’s escape routes have to open various watertight doors or airtight doors, which will speed evacuation but it may also degrade the ship’s post-evacuation integrity. In the proposed the multi-objective path program model for warship emergency evacuation, in consideration of the conflict between the minimization of total travel time and the minimization of ship’s integrity. The multi-objective problem was converted into single objective problem by weighted method. The crew speed on each arc depends on the total number of evacuees traversing the arc at roughly the same time. We proposed a heuristic algorithm to solve the multi-objective time-varied escape route planning problem. Finally, a numerical example is presented to show the effectiveness and feasibility of this algorithm.