To solve the problem of detecting motor rotor position accurately of the Permanent Magnet Synchronous Motor (PMSM), this paper designs and realizes a method of demodulating the signal of PMSM rotor position based on Δ-Σ modulation and Cascade Integrator Comb (CIC) filter. This method uses Δ-Σ modulation chip ADS1205 and specially designed filter chip AMC1210 for motor control. With the combination of ADS1205 and AMC1210, the PMSM rotor position information is demodulated, and the 16-bit demodulated angle data are got. The actual system validation shows that the decoding circuits have high precision, PMSM can be stable and reliable when running at 10,000 RPM, proving the feasibility of the design. Compared with the conventional A/D sampling method, this method is more stable and reliable, cheaper, and has higher signal-to-noise ratio.