The traditional switched reluctance motor (SRM) experiences significant torque ripple due to its doubly salient stator-rotor core structure and switched power supply mode. To address this issue, a novel low-torque-ripple circumferentially staggered SRM was proposed. This paper introduced the operating mechanism of the motor structure and analyzed the inductance characteristics of the windings and torque output. The motor adopted an inner-outer double stator structure, where the rotor was equipped with both inner and outer salient poles. The inner and outer stator cores, as well as the rotor′s inner and outer salient poles, were staggered at a certain angle. Auxiliary windings are wound on the inner stator poles to provide auxiliary torque during the commutation of the main windings, compensating for the torque drop and thus reducing torque ripple. By utilizing field-circuit coupling co-simulation, direct instantaneous torque control systems for both the traditional SRM and the circumferentially staggered SRM