The 6i(i∈N)order torque ripple in permanent magnet synchronous motors is the main source of order vibration in electric vehicle motor assembly and bodies. This paper presents an analytical model of the 6i(i∈N) order torque ripple in permanent magnet synchronous motors while considering stator slotting and high harmonics. The modeling procedure is based on the calculation of the permanent magnet field distribution in the air gap. When current harmonics are not considered, it is shown that the torque ripple has a 6i order ripple characteristic. The analytic calculation results are tested and verified with the finite element method. The proposed analytical model reveals the formation mechanism of the nonlinearity characteristic of electromagnetic torque for permanent magnet synchronous motors.