The conventional duty ratio modulation based direct torque control (DR-DTC) for the dual three-phase permanent magnet (DTP-PM) motor reduces the torque ripple using duty ratio modulation in torque control. However, the flux was controlled by a hysteresis comparator, resulting in deficient steady-state performance. This paper proposes a novel DR-DTC strategy to improve torque and flux simultaneously. Firstly, a switching table with the multiple vector selection is newly established. Two adjacent virtual voltage vectors and a null vector are selected in each control period. Then, the duty ratios of selected adjacent virtual voltage vectors are optimized with the dual objective modulation considering torque performance and flux performance. In addition, the combination of adjacent virtual voltage vectors for the DTP-PM motor generates non-standard symmetrical switching sequences. Two switching sequences generated methods are further investigated to address the issue. So, the switching sequences of the proposed strategy can also be generated easily. Finally, the conventional strategy and the proposed strategy are compared through experiments, and the experimental results verify the effectiveness of the proposed strategy.