A hybrid vehicle includes an engine, a first motor, a planetary gear mechanism, a second motor, a battery, and an electronic control unit. The electronic control unit is configured to: control the engine, the first motor, and the second motor such that the hybrid vehicle travels using a required driving force; set a target rotation speed on a basis of the depression amount of the accelerator pedal, the vehicle speed, and a shift stage such that the target rotation speed of the engine increases as the depression amount of the accelerator pedal increases; set an upper-limit driving force; and control the engine, the first motor, and the second motor such that the engine operates at the target rotation speed and the smaller driving force of the upper-limit driving force and the required driving force is output to the drive shaft.