An asymmetric magnetic pole (AMP) rotor topology was proposed in order to enhance the torque density of interior permanent magnet synchronous motors (IPMSMs). The AMP structure was constructed based on an alternating N/S pole arrangement. An analytical expression for the electromagnetic torque was established by deriving the magnetomotive force distribution function of the AMP rotor and incorporating the energy method. The analytical expression revealed the underlying mechanism by which the AMP design influenced the output torque. A coordinated optimization strategy for multi-operating scenarios was developed in order to improve the comprehensive performance of the asymmetric magnetic pole permanent magnet synchronous motor (AMP-PMSM) under multiple operating conditions. Four representative operating points under typical working conditions were selected. A torque–efficiency coordinated optimization across the entire speed range was achieved for the proposed motor with the dual objective of simultaneously increasing output torque and reducing loss. The optimized motor exhibited a significant improvement in output torque at all operating points. The torque ripple was generally reduced by more than 5%, and the cogging torque decreased by 0.42 N·m. The sum of the core losses and the permanent magnet eddy current losses was reduced by 2.7% and 3% at the corresponding operating point in the medium and high speed operating range, respectively, while the maximum efficiency was improved by 1%. Electromagnetic simulations and prototype experiments were conducted to validate the performance of the proposed AMP-PMSM. Results demonstrated that the optimized motor achieved superior torque capability and operating efficiency.