Based on the dynamic mathematical model of induction motor, the mutual model reference adaptive system method (MRAS) for rotor speed identification is proposed to implement a speed sensorless direct torque control. The model reference adaptive theory is flexibly used in the rotor speed and the stator resistance online identification. The reference model and adjustable model used in the mutual MRAS scheme are interchangeable. Therefore, the control system can obtain high-precision speed identification. Simulation results show the method can solve the problems of speed control accuracy and system stability under the influence of motor parameter variation. The low speed performance of DTC is also improved.