A driving apparatus of a vehicle includes an engine driven using energy obtained by combustion of fuel, and a driving motor directly connected to a crankshaft of the engine. The driving motor includes a rotor having the same rotation shaft as that of the crankshaft, and a stator coupled to the engine to be housed inside of the rotor to rotate the rotor. Therefore, fuel consumption can be improved and a structural design of an engine periphery of a hybrid vehicle can be diversified.