Most traditional engineered systems are designed with a passive and fixed reliability capability and just required to achieve a possibly low level of failure occurrence. However, as the complexity at spatial-temporal scales and integrations increases, modern complex engineered systems (CESs) are facing new challenges of inherent risk and bottleneck for a successful and safe operation through the system life cycle when potential expected or unexpected disruptive events happen. As a prototype for ensuring the successful operation of inherently risky systems, resilience has demonstrated itself to be a promising concept to address the above-mentioned challenges. A standard multi-dimensional resilience triangle model is first presented based on the concept of the three-phase system resilience cycle, which can provide a theoretical foundation for indicating the utility objectives of resilience design. Then, the resilience design problem for CESs is proposed as a multi-objective optimization model, in which the three objectives are to maximize the survival probability, to maximize the reactive timeliness and to minimize the total budgeted cost. Furthermore, the proposed multi-objective optimization programming is solved based on the efficient multi-objective evolutionary algorithm NSGA-II. Finally, the effectiveness of the proposed models and solving procedure is illustrated with an engineered electro-hydrostatic aircraft control actuator resilience design problem, a comparative analysis on the case study is also carried out with respect to previous works. This work can provide an effective tradeoff foundation to improve the resilience of CESs.