A disk drive is disclosed comprising a disk and a voice coil motor (VCM) having a voice coil for actuating a head over the disk. A VCM driver comprises an H-bridge driver having a plurality of driver switches for driving current through the voice coil to ground. A first pulse width modulated (PWM) signal controls a first voltage level driving the voice coil relative to a duty cycle of the first PWM signal, and a second PWM signal controls a second voltage level driving the voice coil relative to a duty cycle of the second PWM signal, wherein the first voltage level is greater than the second voltage level.