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Focused on the permanent magnet synchronous motor (PMSM) used in electric, this paper proposes an online insulation testing method based on voltage injection under high-temperature and high-humidity conditions. The effect of constant humidity and temperature on the insulation performance has been also studied. Firstly, the high-voltage insulation structure and principle of PMSM are analyzed, while an electrical insulation testing method considered constant humidity and temperature is proposed. Finally, a temperature and humidity experimental cycling test is carried out on a certain prototype PMSM, taking heat conduction and radiation models, water vapor, and partial discharge into account. The results show that the electrical insulation performance of the motor under constant humidity and temperature operation environment exhibits a decreasing trend. This study can provide theoretical and practical references for the reliable durability design of PMSM.