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Maximum torque per ampere (MTPA) control of internal permanent magnet synchronous motors (IPMSM) has become integral to high-efficiency motor drives. To minimize the influence of the traditional model-based analytical solution method on the MTPA control strategy due to the parameter variations during the motor operation, an online search MTPA method without model-based fractional-order extremum seeking control (FO-ESC) is proposed. Compared with the traditional integer-order ESC method, the Oustaloup approximation-based fractional-order calculus provides additional factors and possibilities for optimizing controller parameters to improve control performance. At the same time, the proposed approach does not require machine parameters and is thus not influenced by machine and drive nonlinearities. Simulation results show that the proposed method can ensure robust MTPA control under different loading conditions in real-time and improve the system’s dynamic response speed and steady-state accuracy.