This paper proposes a method for stator and rotor temperature estimation based on energy model for Permanent Magnet Synchronous Motor (PMSM) used in hybrid electric vehicle. The temperature behavior is obtained from motor losses and cooling system model. The losses in stator and rotor is calculated separately. The convection heat transferred between rotor, stator and coolant are modelled. The difference between energy losses and energy absorbed by the cooling system is considered as an indication of the temperature variation in the inside the motor.