A permanent magnet spherical motor (PMSpM) is a special motor with a multi-degree-of-freedom motion capacity. This paper proposes a modeling method for the PMSpM using the differential evolution (DE)-based torque map method. The analytic model is built firstly by introducing the spherical harmonic method. Then, a coil with unit current is defined, and the rotor sphere is scanned with azimuth and pole angles separated by 1 degree. The spatial torque at each point is recorded, allowing us to create torque maps (Tx, Ty, and Tz). The torque model from torque to current can be achieved by adopting linear interpolation and DE algorithms. The simulation was conducted in MATLAB to verify the proposed method. The simulation results indicate that, without compromising computational accuracy, the torque model derived from the DE algorithm and the torque map requires significantly less computational effort compared to the traditional analytical model, warranting further investigation.