The driving motor of the electric vehicle (EV) can recover kinetic energy during normal braking maneuvers by regenerative function. At the same time, its dynamic torque response proves to be accurate and fast for emergency braking, namely anti-lock braking, with coordinated control of the frictional braking system. However, vehicle transmission properties will deteriorate control performance of the motor, especially in the anti-lock braking process. A novel PMSM control method is proposed considering the transmission influence on this high-dynamic braking process of the pure electric vehicle. Firstly, the EV's dynamic model which includes the PMSM field oriented control (FOC) model, the transmission dynamic model and the hydraulic braking system is built, and the influences of transmission elasticity and backlash non-linearity on motor braking torque are analyzed. Then, based on the wheel slip ratio target of the anti-lock braking, the novel mode-switching method for motor torque control between the backlash sliding-mode compensation and the elasticity double-closed-loop PID compensation is put forward. Two state-of-the-art anti-lock braking algorithms which simplify transmission properties, slip ratio phase plane theory and sliding-mode control, are compared with the proposed method. Simulation and test-bench experiment results show that, on different test road surfaces, the mode-switching PMSM control can effectively compensate for transmission effects and significantly improve the EV's anti-lock braking comfort, stability and maneuverability with fast and accurate motor torque regulating.