The invention discloses a permanent magnet brushless motor sensorless starting method. The permanent magnet brushless motor sensorless starting method comprises the steps that firstly, a rotor is positioned at a specific position through a rotor prepositioning device, single-step acceleration is carried out according to the given single-step acceleration current and single-step acceleration time obtained by calculation, single-step acceleration is directly switched to closed loop acceleration after being carried out, rotor position signals in a three-phase suspended state are detected every fixed period, the power-on phase sequence is determined according to the rotor position signals, whether counter potential signals are stable or not is judged through a signal comparison method while closed loop acceleration is carried out, and when stable counter potential signals can be detected within one phase conversion period, a normal counter potential method is switched to for operation, wherein the single-step acceleration and the signal comparison method can ensure that a motor is started at the highest speed, and the closed loop acceleration process can ensure that the motor supplies power accurately in the acceleration start process and step-out is avoided. By means of the method, an efficient permanent magnet brushless motor can be started accurately, rapidly and efficiently, the optimization process is simple, universality is high, the success rate of starting can be improved greatly, no sensitivity to load changes exists, and the start program does not need to be changed when loads and the working station change within a certain range.