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This paper presents the field‐circuit analysis of a disc‐type torus DC motor with permanent magnets. Calculations of the magnetic field are carried out using the finite element method (FEM) in the 3D space. The integral quantities like the ripple‐cogging torque, back electromotive force, flux linkage, self and mutual inductances of the winding are analyzed. The electromagnetic torque is comparatively determined from the Maxwell stress tensor and co‐energy methods. Based on the 3D magnetic field calculations, the lumped‐parameter model of the tested motor is constructed, taking into account an electronic power converter as well. For comparison, various permanent magnet widths and teeth thicknesses of the stator core are considered. The torque pulsations are shown in simulations to be effectively reduced by an appropriate selection of a permanent magnet width on the pole pitch. Additionally, the efficiency of the tested motor can be significantly improved by a proper selection of the teeth thickness. The simulation results are verified with experimental data obtained from the slotless version of the motor prototype.