For permanent magnet synchronous motor drives, the difficulty of parameter tuning of nonlinear active disturbance rejection control (ADRC) current controller is the bottleneck for its application. This paper proposes a measurement delay compensated linear ADRC (LADRC), and a simple tuning method for LADRC’s parameters is presented. Firstly, an ideal model without resistance is acquired, because the current coupling terms, dead-time effects, and motor parameter variations are estimated and canceled out by an linear extended state observer . Secondly, an improved LADRC considering time delay of current measurement is developed. It eliminates unmatched disturbance compensation caused by measurement delay. And frequency responses of current closed-loop gain and disturbance suppression are evaluated. Then, based upon the frequency characteristics of the LADRC controller, a simple tuning method founded on desired frequency bandwidth is presented. It is convenient to be implemented. Finally, experimental results demonstrate that the proposed method is effective.