Abstract: AA generalized torus spherical harmonic analysis method for the recovery of an Earth gravity field model using gravity observations up to the second order components of the disturbing gravity gradient tensor is studied. The relationship between harmonic analysis and Fourier analysis on torus is established according to mapping from a sphere, where the sphere is rotated by 180 to a torus, and using the B-spline interpolation technique. As a result, self-consistent harmonic analysis of the Earth’s gravity field with high accuracy and efficiency is implemented, which eliminates errors caused by the choice of inexact smoothing and de-smoothing factor of conventional harmonic analysis. The degree and order alternating recursive formulae of a series of fixed integrals of spherical harmonics that arise in torus harmonic analysis are given, which show stable recursion and enable fast and accurate conversion from the Fourier to the spherical spectrum of various functionals of the gravity field. Numerical results indicate that the recovery of an Earth gravity field model with higher accuracy can be attained using the torus harmonic analysis method than the spherical analysis method, which also demonstrates the method is effective and practical.