A vehicle control system for reducing shocks resulting from restarting an engine under EV running mode. The vehicle control system is applied to a vehicle including an engagement device that selectively connect the engine with the powertrain, and a motor adapted to generate a drive force and connected with the powertrain. In the vehicle, a first mode is selected to propel the vehicle by the motor while interrupting the torque transmission between the engine and the powertrain and stopping the engine, and a second mode is selected to propel the vehicle by the motor while allowing the torque transmission between the engine and the powertrain and stopping the engine. The vehicle control system selects the second mode if a control response of at least any of the engagement device and the motor is estimated to be out of a predetermine range when the vehicle is running while stopping the engine.