A fast terminal sliding mode control is proposed in this paper for improving the dynamic performance and robustness of a permanent magnet in-wheel motor system driven by a voltage source inverter. Firstly, a fast terminal sliding mode approaching law was designed to accelerate the approaching rate of the control system. Then, a torque load observer was designed to compensate for disturbances and uncertainties. Finally, fuzzy rules were designed to suppress the chattering phenomenon. Simulation and experimental results demonstrated that the fast terminal sliding mode control strategy presented better response speed than the conventional sliding mode control strategy. It had better dynamic performance and anti-interference and effectively reduced the chattering phenomenon in the control process.