This article proposes a simplified discrete space vector modulation (DSVM)-based model predictive direct speed control (MPDSC) with an improved load disturbance observer for permanent magnet synchronous motor (PMSM) drives. First, a simplified DSVM method is used to improve the steady-state performance of MPDSC. In this DSVM method, a novel geometric method relying only on three auxiliary lines in each sector is designed to simplify the algorithm’s complexity. In this way, the set of candidate vectors is quickly determined. Then, the current pulsation and speed of MPDSC are suppressed, and the computational burden of the DSVM execution process is reduced. Second, the reasons that affect the dynamic performance of the conventional linear extended state observer (ESO)-based mechanical disturbance observer are analyzed, and the observed error of the observer is derived. Based on the observer error, an improved mechanical disturbance observer is proposed to accelerate the convergence process. The Lyapunov theory proves the stability of the proposed observer. Finally, the feasibility of the proposed method is verified by experiments.