To improve the performance of the surface permanent magnet synchronous motor(SPMSM) drives, a rotor position estimation method based on a novel phase-locked loop(PLL) is proposed. Firstly, the harmonic of back electromotive force(back-EMF) of SPMSM is analyzed, the form of harmonic in a rotating coordinate system is defined. Then, in order to improve the accuracy of rotor estimation, a novel filter composed of adaptive notch filter(ANF) and low pass filter(LPF) is designed to extract the specific harmonic.Finally, the simulation experiments are implemented to compare the performance of the proposed PLL and synchronous reference frame PLL(SRF-PLL). The results show that the proposed PLL achieves faster tracking speed and better filtering performance with the a high accuracy of rotor position estimation.