Addressing the issue to restrain the nonlinear coupling disturbance in the multimotor parallel drive system and acquiring perfect driving control performance, a novel super-twisting terminal sliding mode synchronous control (STSC) is proposed. In this control scheme, a lumped error (LE) with a synchronization coefficient is designed to transform coupled control into LE convergence. Then, a recursive terminal sliding mode function with two layers is introduced. Based on this sliding mode function, the STSC scheme is proposed, and it can guarantee the LE finite-time convergence and the continuous control action in nature. A nonlinear extended state observer (NESO) is introduced to enhance robustness. Moreover, the NESO not only provides an estimation of disturbance but also provides a smooth velocity signal. Therefore, differential operations and filtering operations are avoided. Finally, a compound control scheme is obtained. Compared with conventional super-twisting algorithm (STA), the robustness is enhanced by embedding NESO-based disturbance compensation, and the advantage of continuous control action is inherited. The major advantages of this scheme are characterized by output-based information only used, good model adaptability, and strong disturbance rejection ability. Experimental results show the effectiveness of the proposed control law.