A vehicle control system is provided to reduce a change in drive force and to start an engine without delay when starting the engine by a motor during running. The control system is applied to a hybrid vehicle having an internal combustion engine and two motors supplied electric power from a battery. The control system comprises a determination means that determines a fact that a state of charge of the battery is lower than a first threshold, during propelling the vehicle by the two motors by supplying the electric power from the battery while stopping the engine (at step S2); and a drive force restriction means that restricts a total drive force of said two motors for propelling the vehicle to an allowable limit which is lower than a theoretical maximum drive force of said two motors, given that the state of charge of the battery is lower than a first threshold (at step S3).