Motor vibration signal data sets are characteristically random and nonlinear, and its features are difficult to extract for fault identification. To reduce the uncertainty of fault diagnosis, a method based on principal component analysis (PCA) and discrete belief rule base (DBRB) was developed for the first time. Initially, the vibration signal was first denoised using a wavelet threshold algorithm to eliminate interference. Second, overlapping signals were segmented into 15 time windows and a total of 13 typical time domain features and mathematical statistical features were extracted. Third, the dimensions of the features were reduced to three principal components by PCA and were taken as the antecedent attributes of the DBRB. However, the amount of information in each principal component is different, so the variance contribution rate was taken as an antecedent attribute weight to restore the original data characteristics. Fourth, a PCA-DBRB model was established, which effectively avoided the combinatorial explosion problem of rule base in the DBRB model. In addition, to obtain appropriate reference values, the k-means algorithm was introduced to take the cluster centers as reference values. The method was then validated by collecting typical fault data from motor bench experiments. The results demonstrated that compared with other traditional classifiers, this approach is more effective and superior in classification performance and more accurate in diagnosing faults from motor vibration data.