This paper deals with configuration of autonomous underwater vehicle (AUV) for inspection of underwater cables taking low hydrodynamic drag, sensor alignment, collision avoidance maneuver, turning maneuver and rolling motion into account. AUV consists of fuselage of body of revolution with low hydrodynamic drag, fore and aft horizontal wings, upper and lower vertical tails and a pair of horizontal thrusters at both sides of aft horizontal wings. The design process for the horizontal wings and the vertical wings is discussed performing model experiments and numerical simulations. The shape of fore horizontal wing and that of aft horizontal wing can be determined by use of a non-linear optimization method under the constraints of magnetic sensor alignment for cable tracking, dynamic stability in vertical plane and performance of collision avoidance maneuver. The performance of turning maneuver and rolling motion are attributed to thrust force difference between a pair of thrusters at both sides of aft horizontal wing, because the shapes of upper and lower vertical tails can be designed from the viewpoint of the dynamic stability in horizontal plane.