Considering cost and integration constraints, traditional phased array antennas are usually single-polarized or time-multiplexed polarized and do not finely regulate the polarization form when transmitting or receiving signals, which constrains the polarization domain efficiency of phased array antennas. To address this issue, this paper is based on heterogeneous fully polarized phased arrays and jointly regulate their beam pointing and polarization parameters, in an attempt to achieve the full polarization application of phased array antennas at a lower cost. Firstly, the concept of heterogeneous fully polarized phased arrays is proposed; then, the mathematical model for the joint regulation of beam pointing and polarization parameters of heterogeneous fully polarized phased arrays is established; finally, a joint regulation method is proposed and mathematically simulated. The simulation results demonstrate the correctness and effectiveness of the joint regulation method for beam pointing and polarization parameters of heterogeneous fully polarized phased arrays.