The invention discloses a permanent magnet synchronous motor control method without a position sensor and an apparatus thereof. The method comprises the following steps of according to a voltage equation of a permanent magnet synchronous motor under a static alpha beta coordinate system, an actual stator current and a voltage instruction value, acquiring an estimation stator current, wherein a counter potential in the voltage equation is expressed by an integration item and an order power item, the integration item is an integral of a stator current error symbol function, and the order power item is a product of even order power of a stator current error and the stator current error symbol function; according to the estimation stator current and the actual stator current, acquiring two shaft estimation counter potentials; and taking a tangent angle of a specific value of the two shaft estimation counter potentials as an estimation rotor angle and an estimation rotor speed, and according to the estimation angle, the estimation rotor speed and a speed instruction, carrying out vector control processing and outputting a r+1th voltage instruction value. In the method of the invention, estimation precision is increased and simultaneously an extra low pass filter and a phase compensation module are not needed so that jitter of an observation result is greatly reduced and an algorithm is easy to realize.