A permanent magnet synchronous motor (PMSM) has advantages in applications such as electric vehicles and all-electric-aircraft because of its inherent characteristics of high power density. In order to further improve its power density, this paper proposes a novel rotor structure with a magnetic stripe, based on the “dual stator + Halbach array” topology of the PMSM, which leads to a PMSM with greater power density. Then, this paper proposes characteristic parameters such as the external air gap proportional coefficient K1 and the internal air gap proportional coefficient K2 of the novel rotor structure, and establishes the torque analysis model of the novel rotor structure and the corresponding motor. Simulation results show that the novel rotor structure can increase the average torque. Then, this paper establishes an optimization model, in which K1 and K2 are taken as optimization variables, a torque fluctuation of no more than 5% is set as a constraint, and the maximum average torque is set as the optimization goal. The results show that the optimized novel rotor structure with magnetic stripe can significantly improve the torque performance of the PMSM, and the optimization method proposed is efficient.