Due to the much faster response time of permanent magnet synchronous motor (PMSM) compared to mechanical dynamics, a tracking differentiator (TD)-based dual-time-scale sliding mode control (SMC) method is proposed. First, the mathematical model is established in a two-phase synchronous rotating orthogonal reference coordinate system, and the fast and slow subsystems are then derived based on the quasi-steady-state theory. To address the conflict between reaching velocity and chattering phenomenon existing in the traditional exponential reaching law, a novel reaching law is introduced, allowing for a comparison and analysis of the reaching-time and switching-band. Next, the SMC laws are separately designed within a dual-time scale, thus resulting in the eventual TD-based composite non-cascade sliding mode controller. Finally, the advantages and effectiveness of the proposed methods are demonstrated through the simulation comparisons and experimental results. The results illustrate that the proposed control strategy can realize tracking without any overshoot, ensuring a fast dynamic response procedure in the servo system. The control system has the perfect dynamic performance when the PMSM operates in the reverse direction, and possesses strong robustness against the external load disturbances.