•A novel multi-objective scheduling model is developed for the emergency rescue planning problem.•The proposed model minimizes the fire extinguishing time, delay time, and number of fire rescue vehicles.•The factor of fire spreading speed is firstly considered in our optimization model.•A revised multi-objective discrete gravitational search slgorithm is designed to produce Pareto solutions.•An empirical case study in Heilongjiang Province, China, is applied. The implementation of emergency scheduling of priority-based rescue vehicles for extinguishing forest fires is a complex optimization problem facing with many challenges and difficulties to optimize the operational costs and to improve the efficiency to make robust decisions. The main challenges are to minimize the number of fire engines while minimizing firefighting time and firefighting delay time, simultaneously. The main difficulties to make these decisions are to consider the severity of each fire point with regards to the limited resources of vehicles. Hence, this paper motivates to develop a new multi-objective scheduling model for extinguishing the fire of forests considering rescue priority with the limited rescue resources. To make an efficient and robust solution for the proposed problem, another novelty is to propose a hybrid optimization algorithm which is a modified discrete gravitational search algorithm. To confirm the applicability of the proposed problem, an actual forest fire emergency scheduling in Heilongjiang Province, China, is simulated. The proposed hybrid optimization algorithm is tested to check the feasibility the Pareto solutions and it is compared with a set of well-known and recent algorithms to show its efficiency. Finally, after a comprehensive discussion, the results prove that this work provides an accurate and effective tool for performing the emergency scheduling for extinguishing the forest fire.