The work aims to solve the problems of external disturbance and nonlinear characteristics in the active disturbance rejection control (ADRC) system of traditional AC permanent magnet synchronous motor servo and numerous parameters difficult to tune in ADRC. Wavelet neural network was used to adjust the error correction coefficients of the extended state observer in the active disturbance rejection control, so as to design the active disturbance rejection controller and related control system optimized based on wavelet neural network, thus optimizing the performance of the overall control system. Through Matlab/SIMULINK simulation experiment, the optimized system was compared with traditional PID servo control system and un-optimized AC ADRC servo system for verification. According to the simulation results, the ADRC system of AC permanent magnet synchronous motor servo optimized based on wavelet neural network had fast dynamic response to the target position, small steady-state error, strong anti-interference ability, and small steady-state torque ripple. Compared with conventional un-optimized ADRC system and traditional PID servo system, the ADRC system optimized based on wavelet neural network can effectively improve the control performance and robustness of servo system.