A goal without a plan is just a wish.
The earliest appearance yet located of this statement is in 50 Ways to Lose Ten Pounds (1995) by Joan Horbiak, p. 95, where it is quoted as an anonymous proverb. It seems to have circulated as such for a few years before it began to be attributed to Saint Exupéry around 2007.

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Quote text and notes from Wikiquote: Antoine de Saint-Exupéry (page history), available under CC BY-SA 4.0. Source quality and labels are our own summary of what Wikiquote records.