The invention discloses a coreless brushless direct current motor, which comprises a bearing, a stator, a rotor and a rotor position sensor assembly, wherein the stator coreless winding is a concentric multilayer winding; a winding lead is welded by adopting an adapter plate assembly; the multi-pole annular magnetic pole is P, the HALBACH structure is adopted for overall multi-pole magnetization,and it is guaranteed that the air gap flux density wave of the winding coupling part is in a sine form; the motor end cover, the casing, the stator, the rotor, the bearing and the Hall positioning circle center are coaxially arranged. The product provided by the invention is simple in structure, convenient to assemble, compact in structure, small in size, small in size, light in weight, small in loss, high in efficiency, high in power and torque density, high in counter potential sine, low in waveform distortion rate, low in operation noise and vibration, small in torque ripple and high in reliability. The coreless brushless motor has the advantages of simple structure, high dynamic response speed, stable control operation, high control precision, high reliability and the like.