Vehicle routing optimization under “Daily Generation and Daily Clearing” is studied to avoid secondary pollution caused by medical waste. Considering the various constraints faced in the medical waste collection, a mixed integer optimization model is established. A hybrid ant colony algorithm is proposed according to the characteristics of the model. The reasonable strategy is obtained by continuously iteratively solving the integer optimization sub-model and the linear programming sub-model. The constructed model and algorithm can effectively help medical waste disposal companies to make reasonable decisions about the order, time, volume, number of vehicles and working hours for cleaning vehicles. Compared with the traditional model, the medical waste collection under the background of “Daily Generation and Daily Clearing” may require more vehicles and costs, but it can effectively avoid the accumulation of medical waste.