A driving control method of a hybrid electric vehicle (HEV) includes: determining whether an exhaust gas restricted area is present one a driving route; determining whether the HEV is possible to drive through the entire exhaust gas restricted area under a first-mode of driving in which only an electric motor of the HEV drives the HEV when the exhaust gas restricted area is present; calculating a charging route when the HEV is not possible to travel through the entire gas restricted area under the first-mode of driving; determining a possibility of traveling through the entire gas restricted area under the first-mode of driving before entering the calculated charging route; and calculating a bypass route based on determination that traveling the entire exhaust gas restricted area under the first-mode of driving is not possible.