Model predictive pulse pattern cotrol (MP3C) is an effective control method with low switching frequencies. Its dynamic performance is affected by the length of the predictive horizon. Although a short predictive horizon will bring fast transient responses, it will also be delayed sometimes because of the lack of adjustable switching angles within the predictive horizon. This paper proposes an improved scheme with additional pulse insertion during the transient process for dual three-phase permanent-magnet synchronous motor (DTP-PMSM) drives, which achieves faster transient responses with no impact on the steady-state performance. Firstly, The insertion conditions are analysed in detail. Further, the calculation method of the width of inserted pulses is proposed. At the end, both the simulation results of the standard MP3C and the improved MP3C are presented to verify the validity of proposed scheme.