A non-singular terminal sliding mode control based on finite time observer is designed to achieve speed direct control for the permanent magnet synchronous motor (PMSM) drive system. Speed and current are regulated in one loop under the non-cascade structure, taking place of the cascade structure control method in the vector control of PMSM. Based on the second-order speed function of the PMSM, the disturbance and parameters uncertainties are estimated by the designed finite time observer (FTO), and compensate to the drive system. The estimated value of the finite time observer will converge to the actual disturbance value in a finite time. A second-order non-singular terminal sliding mode controller is proposed to realize the speed and current single-loop, which can track the reference speed and reference current in a finite time. Rigorous stability analysis is established. Comparative results verified that the proposed method has faster speed tracking performance and disturbance rejection property.