This paper analyzes the effects of the rotor position error in the performance of field-oriented-controlled permanent-magnet synchronous machine (PMSM) drives intended for electric vehicle (EV) traction applications. A special focus is given to the torque ripple generated along the characteristic trajectories in the different operating regions of the PMSM. An extended and generalized model of the torque ripple produced by the PMSM as a function of the rotor position error is analytically deduced. An infinite-speed interior-(I)PMSM drive and a finite-speed surface-mounted (SM)-PMSM drive are considered for the simulations carried out in MATLAB-SimPowerSystems. The experimental results have been validated with a TM4 EV drive controlling an 80-kW SM-PMSM. The torque ripple has been evaluated for both motoring and regenerative braking operation modes under maximum torque conditions going from 100 N · m at 1000 r/min up to 55 N · m at 9000 r/min. The obtained simulation and experimental results demonstrate the good accuracy of the proposed model for evaluating the torque ripple produced in PMSMs due to the error from the rotor position sensor.