A tow hitching aid system for a vehicle includes a camera, at least one ultrasonic sensor, a display screen and a control. The camera has a rearward field of view that encompasses a vehicle hitching element. The control receives input from the camera and input from the at least one ultrasonic sensor. When the vehicle is reversing towards a trailer hitching element of a trailer to establish a hitch connection, the control determines at least one of (i) distance to the trailer and (ii) orientation of the vehicle relative to the trailer, and during the reversing maneuver, the control (a) provides video images for display by the display screen and (b) provides, for display by the display screen, at least one graphic overlay that indicates to the vehicle driver at least one of (i) distance to the trailer and (ii) orientation of the vehicle relative to the trailer.