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 of induction motor. 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 induction motor speed sensorless direct torque control system can obtain high-precision speed identification. Computer simulations and experimental results show that 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.