A method for controlling a hybrid vehicle including an internal combustion engine and electric motors each coupled to a wheel of a rear axle by a coupling device, and an electronic control unit connected to sensors, to a mechanism selecting a propulsion mode and also to the internal combustion engine and to the electric motors. The method includes: depending on running conditions of the vehicle and depending on the selected propulsion mode, controlling the coupling devices, controlling operation of the internal combustion engine and of the electric motors, and controlling torque of the internal combustion engine and of the electric motors.