Nowadays, in-wheel drive mode is considered as one of the most promising modes for electric vehicles (EVs). The motor type plays a significant role in the vehicle performances. This article focuses on the performance between permanent magnet synchronous motor (PMSM) and permanent magnet Vernier motor (PMVM) for in-wheel direct drive. First, the required performances are determined by the vehicle requirements. The prototypes of PMVM and PMSM are manufactured after the comparison. Then, the expressions of air-gap magnetic field harmonic, electromagnetic torque, and power factor are theoretically derived, where the parameter torque ratio is introduced to evaluate the torque ratio between PMVM and PMSM. Based on experiment, the back-electromotive force harmonics, cogging torque, maximum torque per ampere capability, flux-weakening capability, torque, efficiency, and power factor are compared and analyzed. Subsequently, the discussions are carried out, where the strength and weakness of two-type motors for in-wheel drive are concluded and the future prospects are suggested. Finally, the conclusions of two-type in-wheel motors are then extracted. This article aims at providing a reference for the exploration of alternating in-wheel motor types, which can promote the development of high-performance in-wheel drive system for EVs.