The control system for a hybrid vehicle with a combustion engine (E) is provided for outputting driving force, an electric motor (M) for generating a force for assisting the output from the engine, and a power storage unit (3) for supplying a power to the motor and for storing energy regenerated by the motor when the vehicle decelerates. The control system comprises: an assistance determining device (S125, S136) for determine whether to assist the output from the engine by the motor, depending on the driving condition of the vehicle; a first assistance amount determining device (S239) for determining a first assistance amount, depending on the driving condition of the vehicle, when the assistance determining device determines to perform the assist; a second assistance amount determining device (S401) for determining a second assistance amount (SCRAST), when a driver's intention to accelerate the vehicle exceeds a predetermined standard; and an assistance control device (1) for driving the motor to assist the output from the engine, based on the first assistance amount when a driver's intention to accelerate the vehicle does not exceed a predetermined standard, and based on the second assistance amount when the driver's intention to accelerate the vehicle exceeds the predetermined standard.