A positioning structure for a direct drive torque motor, on the fixed portion of the positioning bearing are formed a first positioning surface and a second positioning surface, and on the rotating portion of the positioning bearing is formed a reference surface. The first positioning surface is positioned against the base, the second positioning surface is positioned against the stator, and the reference surface is positioned against the optical scale. By arrangements, the base, the rotor, the stator, and the optical scale of the motor can be assembled precisely without the use of extra assistant mechanisms. Therefore, it not only saves the cost but also improve the assembly convenience and precision.