Abstract This paper proposes a new lexicographic multi-objective model predictive control (MoMPC) scheme for constrained nonlinear systems with changing objective prioritization. The lexicographic optimization-based receding horizon optimal control problem is firstly formulated to accommodate the concern on prioritized control of multiple (economic) objectives. Then an elaborate generic function and the notion of general terminal constraints are introduced to regain feasibility of lexicographic MoMPC in the presence of constraints and changing objective prioritization. Moreover, the LaSalle i...