In a transmission control device for a hybrid vehicle, when an engine torque is equal to or less than a predetermined value during a constant speed traveling, a learning engine rotational speed is set to a rotational speed being higher by +α than the present engine rotational speed. Then, a learning engine torque is calculated that corresponds to the learning engine rotational speed, a learning clutch actuator operation amount is obtained that corresponds to the learning clutch torque, and a clutch actuator is operated based on the learning clutch actuator operation amount. Thereafter, when the engine rotational speed and the engine torque are in stable states, a clutch torque value corresponding to the learning clutch actuator operation amount is compensated by a stable engine torque value.