The model predictive direct torque control (DTC) of permanent magnet synchronous motor (PMSM) system had many problems, such as large torque ripple, constant switching frequency. A new scheme of direct torque control for PMSM based on finite control set model was proposed. The eight voltage vectors of the twolevel converter were utilized as a finite control set for the torque prediction of the PMSM. A cost function considering the torque error, the maximum torque per ampere and the current limitation was introduced. The cost function was used to estimate the duty cycle of each voltage vector. Thus the optimal voltage vector could be obtained from eight voltage vectors and their duty cycles. Compared with the traditional model predictive control, the proposed method had small harmonic current and torque ripple, and had excellent dynamic performance. Simulation results were presented to verified the performance of the proposed control scheme.