A control system for an automatic transmission includes a clutch adapted to be applied when a forward running range is selected, for transmitting the rotation of an engine to a speed change unit. A hydraulic servo applies the clutch responsive to feed of an oil pressure and a control unit controls the oil pressure fed to the hydraulic servo. The control unit brings the clutch into a substantially released state by lowering the oil pressure of the hydraulic servo if the stop state of a vehicle is detected by a stop state detector and applies the clutch if the stop state of the vehicle is not detected with the clutch released. The oil pressure fed to the hydraulic servo is raised according to a second mode when the accelerator pedal is depressed, in preference to a first mode in which a brake pedal is released, if the accelerator pedal is depressed when the stop state of the vehicle is not detected because the accelerator pedal is released so that the engagement of the clutch has not started.