The invention discloses a motor speed calculating method, which carries out low-pass filter treatment on pulse input A and pulse input B. Each one of the filtered pulse input A and pulse input B is output in two paths for pulse selection and direction judgment. In the direction judgment, a current speed direction is judged according to a phase difference of the pulse input A and the pulse input B, and a direction signal is output. In the pulse selection, one pulse suitable for calculation is selected from the pulse input A and the pulse input B and is output by dividing into three paths for frequency calculation, zero-speed judgment and duty ratio calculation. In the zero-speed judgment, a zero-speed identifier is output when a current speed sensor has no output pulse. In the frequency calculation, a pulse frequency is processed, calculated and output. In the duty ratio calculation, a duty ratio signal under the current pulse is processed, calculated and output.. With the adoption of the motor speed calculating method provided by the invention, the technical problems that the motor speed calculating method in the prior art has low instantaneity, accuracy and stability, and is not suitable for multipath input signal treatment and parallel calculation function can be solved.