Due to environmental issues and depletion of resources, global attentiveness in electric vehicles (EVs) is growing. In particular, research on high specification motors for driving large EVs has attracted a lot of attention. In this study, an analysis and design process for a motor that can be universally applied in heavy vehicles to reduce environmental pollution was introduced. Motors for driving heavy vehicles require high specifications. Thus, an interior permanent magnet synchronous motor (IPMSM) with a delta-shaped magnet array was used to improve the torque and power characteristics. A step skew rotor structure was also used to dampen vibration and noise by minimizing the high-order harmonics in the cogging torque. The proposed analysis and design approach also reduces the total harmonic distortion (THD) of the back electromotive force (EMF). The effectiveness of the proposed analysis and design process and the usefulness of the resulting high-performance traction motor for heavy-duty vehicles were verified via the finite element method (FEM) and by experiment.