This paper aims to realize sensorless motion transmission for haptic teleoperation between remote places. Sensorless systems are endurable against operations under harsh environments. This is a great advantage suitable for teleoperation systems. To achieve this purpose, two types of voltage compensation are proposed for torque transmission and velocity synchronization. These two targets are known as requirements for haptic teleoperation. This paper shows an integration of two types of voltage compensation to conduct sensorless motion transmission. Analyses and simulations confirmed that the proposed method succeeded sensorless motion transmission between remote motors. The proposed voltage compensation enables sensorless motion transmission to be used for haptic teleoperation.