Permanent magnet synchronous motor (PMSM) direct torque control (DTC) system using double fuzzy control is proposed. Fuzzy control is applied to the determination of both the voltage vector and the time duration of applying voltage vector at the same time. The PMSM DTC system uses one fuzzy controller to replace the hysteresis comparators of torque and stator flux and the switching table in traditional DTC to output basic voltage vectors. Another fuzzy controller is used to determine the time duration of applying voltage vector. Simulation results show that the proposed double fuzzy control system can work properly and four-quadrant operation can be realized. Compared with the system only using one fuzzy controller to output the voltage vector or the time duration of applying voltage vector, the double fuzzy control system can effectively suppress torque and flux ripple.