A work vehicle includes: an engine; a hydraulic pump that is driven by the engine; hydraulic cylinders that are extended and contracted by pressurized fluid delivered from the hydraulic pump; a work device that is moved according to the extension/contraction operations of the hydraulic cylinders; a travel device that is driven independently of the work device; an electrically driven motor that is driven by electric power generated by the engine to operate the travel device; and a controller that controls the hydraulic cylinders and the electrically driven motor. The controller controls the output power of the hydraulic pump and the output power of the electrically driven motor by changing the distribution ratios of a first torque consumed by the work device and a second torque consumed by the travel device among torques output by the engine, on the basis of a reaction force received by the vehicle body.