A transmission system of a hybrid electric vehicle may include an input shaft connected to an engine, a planetary gear set including a first rotation element operated as an output element, a second rotation element connected to the input shaft and operated as an input element, and a third rotation element operated as another output element, a first motor shaft disposed in parallel to and apart from the input shaft, operably connected to the first rotation element, and selectively connected to a transmission housing, a first motor/generator disposed on the first motor shaft and configured to generate electric energy by receiving torque through the first motor shaft, a second motor shaft disposed without rotational interference with the first motor shaft and operably connected to the third rotation element to receive torque of the engine, and a second motor/generator disposed on the second motor shaft and outputting torque through the second motor shaft.