Due to the fixed and limited sampling period in the real-time system, three-phase permanent-magnet synchronous machine (PMSM) drives using switching-table-based direct torque control (ST-DTC) usually suffer from steady-state error and ripple of torque. For the case of the dual three-phase system that has been widely investigated recently, the harmonic currents inevitably occur, which can be regarded as the third issue. This harmonic currents lead to the increase of losses and the decrease of system efficiency. Previous literature has addressed the aforementioned issues but only deals with either the torque ripple issues or harmonic currents. Therefore, this paper first introduces two types of synthetic vectors, which can reduce the harmonic currents effectively, as well as the most suitable switching sequences. Then, a modified five-level torque regulator has been proposed to improve the torque performance. With the proposed method, not only the harmonic currents have been suppressed, but also the steady-state error and ripple of torque can be considerably reduced, whereas the merits of classical ST-DTC, such as simple structure and excellent dynamic performance, are preserved. The experimental results validate the effectiveness of the proposed strategy.