This paper focuses on the design of an advanced fault-tolerant control (FTC) scheme for accommodating high-resistance (HR) connection faults in three-phase permanent magnet synchronous motor (PMSM) drives. Unlike existing works on HR faults which are limited to only fault diagnosis, this paper proposes FTC scheme to control the fault and provide safe operation of the drive. The proposed FTC scheme employs a higher-order sliding mode (HOSM) current-controller, which cancels the extra dynamics that are generated due to the HR connection fault in the considered PMSM current-model. The cancellation of extra dynamics provides tracking of actual current dynamics (d, q) to the reference currents. Moreover, the detection of HR connection fault in 3-phases of a PMSM will be shown with the help of asymmetry (which occurs due to HR connection) in the currents. Experimental results followed by simulations for various cases of additional phase resistances are presented to demonstrate the effectiveness of proposed FTC scheme.