A vehicle control system for an engine-powered vehicle equipped with an engine and an automatic transmission with a clutch. When a given engine stop requirement is met during running of the engine, the system stops the engine automatically. When a given engine restart requirement is met after stop of the engine, the system restarts the engine and enters a clutch control mode to bring the clutch in the automatic transmission into a slippable state in which the clutch is permitted to slip based on the speed of the vehicle, thereby absorbing the acceleration shock which usually occurs upon engagement of the clutch to transmit engine torque to wheels of the vehicle when the engine is restarted, and the speed of the vehicle is relatively low.