Flexible joint system is widely present in the electrical driven system. Usually, the flexible joint is modeled as a spring and then the system is equivalent to a two-mass system. Singular perturbation method is widely used in the control of flexible joint system. However, almost all the singular perturbation control strategies for the flexible joint system are to control the load position and both the load position and motor position are measured. In this paper, a singular perturbation method for the speed control of flexible joint system without measuring the load position is proposed. The flexible joint system is divided into a fast system and a slow system. The control strategies are designed respectively for the slow and fast system. Then the controller outputs are combined. The simulation and experimental results verified the effectiveness of the control strategy for the speed control and resonance suppression of flexible joint system without measuring the load position.