The loop latency compensated PLL filter comprising two additional feedback terms, a delayed phase compensation signal and a state compensation signal, that are provided as input of a PLL filter. Accordingly, the PLL filter input comprises two additional compensation input signals: the delayed phase compensation signal and the state compensation signal in addition to a phase estimated error output from a phase detector that is also coupled to the input of the PLL filter. Consequently, PLL filter thus is able to provide a latency compensated phase error control output that is fedback to control a phase mixer to generate a square waveform used to drive an A / D of the PLL in accordance with the principles of this invention. The loop latency compensated PLL of this invention thus minimizes the jitter of the PLL circuit, provides higher format efficiency, and also has reduced sensitivity to large bursty noises.