This paper proposes a novel method to reduce the torque ripple due to the non-ideality of the current sensing parts in vector-controlled inverter-fed AC motor drive systems. For PMSM(Permanent Magnet Synchronous Motor), motor output torque equations are derived in terms of their offset voltages and different voltage transducing gains. And the effects of phase current errors on motor torque are analyzed for both salient PMSM and non-salient PMSM. The proposed method can eliminate the torque ripple by nulling the offset voltages and setting the voltage transducing gains to the same value. To verify the proposed method, digital simulations are carried out for non-salient PMSM.