Abstract In this paper, a virtual voltage vector (VV) modulation model predictive control harmonic control strategy (MPCHCS) with current prediction delay compensation is proposed to suppress the existing current harmonics in the traditional virtual voltage vector model predictive control (VVMPC) of a six‐phase permanent magnet synchronous motor (SP‐PMSM). To address the harmonics generated in VVMPC due to the prolonged effective VV action time and current prediction delay, this paper first effectively suppresses the harmonic currents in the x‐y plane by pre‐synthesizing the VV control set. Then, the hysteresis error in the prediction process is eliminated by utilizing the compensation of the current prediction delay. Additionally, a zero‐vector insertion VV duty cycle modulation method is proposed to further suppress the harmonics caused by the over‐excitation of the current response. Finally, through experimental comparison with three benchmark algorithms, the suppression effects of the MPCHCS strategy on x‐y plane harmonic currents, phase current harmonics, torque pulsations, and speed fluctuations are verified, specifically, the phase current (Total Harmonic Distortion, THD) and x‐y plane harmonic current content are reduced by 62.4% and 63.5%, respectively, compared with the VVMPC scheme. © 2025 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.