In this paper, a synchronous permanent magnet planar motor (SPMPM) with Halbach array is proposed. First, we give the equations of the magnetic scalar potential and a series of boundary conditions. The magnetization and flux density distribution of Halbach array are obtained by analytical method; then, the characteristics of this SPMPM such as inductance, back-EMF, and thrust are evaluated. At last, the experiment results are used to verify the analysis property of this SPMPM. By comparison, it can be concluded that the analysis of SPMPM with Halbach magnet array is credible and feasible.