A hybrid steering system and a method for controlling the same. A motor driving power steering (MDPS) module at the rear end of a steering wheel includes a first torsion bar connected to a steering wheel shaft, a first torque sensor for measuring the torque of the first torsion bar, and an MDPS motor for applying the torque to the steering wheel shaft. An electro-hydraulic power steering (EHPS) module at the rear end of the MDPS module includes a second torsion bar connected to the steering wheel shaft and a hydraulic mechanism for applying hydraulic steering power. A control unit controls both the torque of the MDPS motor and the steering power of the hydraulic mechanism depending on the speed or steering angle of a vehicle so that both powers from the MDPS motor and the hydraulic mechanism can be applied to the steering wheel shaft.