This paper considers the eigenvalue assignment with minimum sensitivity in descriptor second-order dynamical systems via proportional plus derivative state feedback. Based on a result for eigenvalue sensitivities and a complete parametric eigenstructure assignment approach, the robust pole assignment problem is converted into an independent minimization problem. The closed-loop eigenvalues may be easily taken as a part of the design parameters and optimized within certain desired fields on the complex plane to improve robustness. An example is worked out. Both the indices and the numerical robustness test demonstrate the effect of the proposed approach.