Methods and apparatus to digitally control pulse frequency modulation pulses in power converters are disclosed. An example apparatus includes a low-side controller structured to, when an inductor current corresponds to a first current direction during a low-side control signal of a power converter, decrease a first duration of the low-side control after the first duration; and when the inductor current corresponds to a second current direction during the low-side control signal of the power converter, increase the first duration of the low-side control after the first duration; and a high-side controller structured to, when a sum of the first duration and a second duration corresponding to a high-side control of the power converter does not satisfy target pulse length, increase a third duration of the high-side control after the third duration; and when the sum of the first duration and the second duration satisfies the target pulse length, decrease the third duration of the subsequent high-side control.