A method and apparatus directed to acceleration-based track-seeking servo control of a disk drive, which minimize jerk generated at the start and end of track seeking, thereby reducing mechanical noise of the disc drive while shortening track-seek time. In the method directed to acceleration-based track seeking servo control of a disk drive, a transducer is moved to a target track by a track seeking control using an acceleration trajectory of a function where acceleration change is zero at the start and end of track seeking.