The voltage vector is applied for the whole sampling period in conventional model predictive torque control (MPTC), which causes large stator flux and torque ripple. Therefore, a MPTC system for permanent magnet synchronous motor (PMSM) using fuzzy duty cycle modulation is proposed. The MPTC is used to select the applying voltage vector and fuzzy control is used to determine duty cycle of the voltage vector. The simulation results show that the fuzzy duty cycle modulation MPTC system operates well. Compared with the conventional MPTC, flux and torque deadbeat model predictive control and flux and torque deadbeat control with duty cycle modulation, the MPTC using fuzzy duty cycle modulation can decrease steady-state root mean square error (RMSE) of torque ripple，mean RMSE of flux ripple and total harmonic distortion (THD) of stator current. Due to the decrease of flux and torque ripple, MPTC chooses zero voltage vector more, so the average switching frequency is reduced although duty cycle modulation is used.