A dialysis system having motor driven pressure estimation of fluid within a patient line is disclosed. A peritoneal dialysis (“PD”) system includes a fluid pump and a patient line that fluidly couples the fluid pump to an indwelling catheter leading into a patient's peritoneal cavity. The PD system also includes a motor driver that controls a motor of the fluid pump and transmits an output signal that is indicative of a load on the motor. The PD system further includes a machine learning algorithm that associates data related to output signals from motor drivers with known fluid pressures within patient lines. A processor of the PD system transmits an input signal to activate the motor driver, receives the output signal from the motor driver, and estimates a fluid pressure within the patient line by applying the data from the received output signal to the machine learning algorithm.