A magneto-structural combined dimensional and topology optimization approach for interior permanent magnet synchronous machine (IPMSM) rotor design is proposed using the solid isotropic material with penalization (SIMP) density-based topology optimization method. This method optimizes the location and dimensions of the permanent magnets (PMs) embedded in the rotor, while simultaneously optimizing the lamination flux barriers using topology optimization. To allow for the location and dimensions of the PMs to change a Laplace smoothing mesh deformation technique is used. Three examples of IPMSM rotor optimizations are presented to demonstrate the proposed approach. In addition, a geometric template-based optimization is carried out for a comparison to one of the dimensional and topology optimized examples to better illustrate the difference.