This study presents a new torque ripple compensation for permanent magnet synchronous motors (PMSMs). The proposed method is based on instantaneous torque estimation by a mathematical model. The model is described in a new expression to estimate the torque with low volume offline data. The offline data is constructed by only a magnetic flux and a cogging torque. Therefore, the new model makes the torque ripple compensation possible at low cost within existing drive platforms. In this paper, the proposed method is evaluated by both simulations and experiments. These results show the proposed method has excellent performances.