Disclosed is a method for controlling a permanent magnet synchronous motor to maximize use of voltages of a battery by voltage phase control within weak magnetic flux area and to achieve compensation for a torque error through a torque compensator when driving the permanent magnet synchronous motor for hybrid vehicles. In particular, the method controls a permanent magnet synchronous motor so that voltage use can be maximized in a weak magnetic flux area by using voltage near maximum voltage through voltage phase control utilizing magnetic flux-based map data receiving a torque command and motor speed/batter output voltage as inputs and torque error can be compensated using a torque compensation filter when a motor constant is changed in the weak magnetic flux by a circumstance parameter, when the permanent magnet synchronous motor mounted in a hybrid vehicle and an electric vehicle is driven.