In this paper, a new driving method is proposed for interior permanent magnet synchronous motor (IPMSM) in which d-axis voltage is given priority. When an anti-windup PI current controller that considers q-axis voltage saturation is applied to the IPMSM servo system, the IPMSM servo system prevents the oscillatory q-axis current response. However, in the case of this IPMSM servo system, the d-axis current oscillates because of the voltage saturation. The proposed driving method gives priority to the d-axis voltage in order to avoid the d-axis voltage saturation and prevents the oscillatory d-axis current response. Therefore, the IPMSM servo system can achieve stable responses of both d and q axis currents by using the proposed driving method. Moreover, the proposed driving method is improved to operate in the entire over-modulation region. Because the proposed driving method can increase the fundamental component of inverter output voltage, the IPMSM servo system achieves the quick torque and speed responses despite voltage saturation. The experimental results verify the effectiveness of the proposed servo system.