A direct drive torque motor comprises: a body, a direct drive torque motor, a main shaft, a bearing assembly, a brake assembly, a cooling assembly, and a position-sensing assembly. The bearing assembly is used to position the main shaft in the direct drive torque motor and the body. The brake assembly is disposed between the body and the main shaft. The cooling assembly is located in the body to cool the torque motor. The position-sensing assembly is mounted on the body for sensing the rotation of the main shaft and then controls the drive of the direct drive torque motor. With above arrangements, the direct drive torque motor can be used on various machines that need to rotate to perform various angle control, rotation control and accuracy control, it can improve the life and the modular application of the product.