Saliency tracking based sensorless control schemes of interior permanent magnet synchronous motor (IPMSM) are generally troubled by the audible noise induced by high-frequency (HF) signal injection and the estimation error caused by voltage distortions. Aiming at that, a novel sensorless control strategy of IPMSM drives using HF pulse voltage injection with random pulse sequence (HFPVI-RPS) is proposed. Firstly, the conventional HFPVI method could restrain the impact of voltage distortions, and its mechanism is briefly reviewed. Then, based on that, a novel injected form that injecting HF pulse signals with random pulse sequence into the estimated d-axis is designed to eliminate discrete harmonics in the current power spectra density (PSD) and broaden the current PSD to a wide range. The audible noise can be reduced as much as possible. Further, a signal demodulation scheme matched with the injected form of HFPVI-RPS is proposed for the accurate extraction of rotor position. The PSD analysis of the HFPVI and proposed HFPVI-RPS methods is carried out, and the PSD comparison between reported methods and HFPVI-RPS method is given. Eventually, the effectiveness of the proposed sensorless control strategy is verified on a 750W IPMSM drive platform.