In order to reduce the influence of inverter switching frequency on the output performance of permanent magnet synchronous motor (PMSM), a model predictive torque control (MPTC) method considering the switching frequency optimization for PMSM was proposed. According to the mathematical model of the electromagnetic torque and stator flux, a cost function based on the MPTC was designed. In order to implement the low switching frequency in the full speed range, a switching frequency restriction was also constructed. The control algorithm was developed in both the constanttorque operation and constantpower operation conditions, when the maximum torque per ampere and flux weakening control methods were employed, respectively. Simulation results were presented, verifying the effectiveness of the proposed control strategy.