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This paper proposes a back-EMF (electromotive force) based sensorless control for a single inverter dual parallel (SIDP) surface-mounted permanent magnet synchronous motors (SPMSMs) drive system. The back-EMF sensorless control method is utilized for estimating the rotor position and speed of the master motor. A rotor position difference and a speed difference between two motors are necessary to stabilize the SIDP SPMSMs drive system. For this reason, estimating the rotor position and speed differences is crucial for the SIDP SPMSMs sensorless control. The rotor position difference is estimated from the mathematical model that relates torque to the rotor position difference. The speed difference indicates the discrepancy between the assumed speed of the slave motor and the estimated speed of the master motor. Simulation results are presented to demonstrate the proposed SIDP SPMSMs sensorless control method.