This paper investigates the coordinated voltage control problem for smart distribution grid with the integration of distributed generation (DG). By actively participating in voltage control together with under-load tap changer and shunt capacitors, DG can operate more effectively in the distribution network. The objective of the proposed control method is to minimize the active power loss in the distribution system and to decrease the number of switching device operations while maintaining the grid voltage within the allowable range. Nondispatchable and dispatchable DG are both considered in the control method. To solve the mixed integer nonlinear programming problem, the trust region sequential quadratic programming method is integrated with the branch and bound approach to iteratively approximate the optimization with trust region guidance. Numerical tests on a standard 10-kV distribution system, a real 10-kV distribution system in the Sichuan province of China, and the IEEE 13-bus demonstrate the applicability of the proposed coordinated voltage control method.