The invention relates to a hybrid vehicle. When an output of a braking force to a driving shaft is needed, and a needed braking force can be output by regenerative drive of the second motor, the engine self-sustainably operates, the regenerative drive of the second motor is performed to cause the second motor to output the needed braking force to the driving shaft. When the needed braking force cannot be output by the regenerative drive of the second motor, the needed braking force is output to the driving shaft by the regenerative drive of the second motor and motoring of the engine that performs fuel cut using the first motor. When a filter regeneration condition is established, an allowable input electric power is set to be lower than that of when the filter regeneration condition is not established.