A data storage device is disclosed comprising a head actuated over a disk. A plurality of access commands are stored in a command queue, wherein the access commands are for accessing the disk using the head. A future access command is predicted, and an execution order for the access commands in the command queue is determined based on an associated execution cost of at least some of the access commands in the command queue and an associated execution cost of the future access command. At least one of the access commands in the command queue is executed based on the execution order.