A control method of a hybrid vehicle includes: confirming whether or not the driving mode of the vehicle is an EV mode when a controller senses shift of the position of a shift lever from the position R to the position D or from the position D to the position R; applying reverse-directional motor torque to a motor through the controller so that a motor speed is synchronized with the speed of an engagement-side clutch, as a result of confirmation of the driving mode, if the driving mode of the vehicle is the EV mode; and executing normal driving of the vehicle by applying regular-directional motor torque to the motor through the controller after synchronization of the motor speed with the engagement-side clutch speed.