This paper presents a new sensorless vector control method for permanent-magnet synchronous motors (PMSMs) that employs discrete-time high-frequency voltage injection. The frequency range of the injected voltage is almost the same as that of the pulse width modulation (PWM) carrier of the voltage command. This allows high-speed phase estimation and a high-performance drive, and possibly low acoustic noise caused by the injected voltage. The high-frequency current corresponding to the injected voltage is analyzed in discrete time. Conventional phase estimation methods that employ continuous-time voltage injection are reconstructed by means of the analyses. The reconstructed methods are characterized by high-speed phase estimation, high-performance drive, and high robustness against motor parameter variation. The usefulness of the proposed method is verified through extensive experiments.