A method to control a hybrid vehicle with a parallel architecture and with a known speed profile divided into a plurality of reference time intervals with a constant speed or with a constant acceleration. The method includes the steps of determining a driving torque to be transmitted to the drive wheels, which allows the mean specific fuel consumption of the internal combustion engine to be minimized as a function of the power, of the mechanical energy requested in the reference time interval and of the constant speed or acceleration in the reference time interval; then determining the optimal distribution of the mechanical energy so as to globally minimize the cumulative fuel consumption over the entire actuation profile; and controlling the reversible electrical machine to deliver an additional driving torque as a function of the driving torque to be transmitted to the drive wheels.