A hot-rolled steel sheet includes a predetermined chemical composition, and a structure which include, by area ratio, ferrite and bainite in a range of 80% to 98% in total, and martensite in a range of 2% to 10%, in which in the structure, in a case where a boundary having an orientation difference of equal to or greater than 15° is defined as a grain boundary, and an area which is surrounded by the grain boundary, and has an equivalent circle diameter of equal to or greater than 0.3 μm is defined as a grain, the ratio of the grains having an intragranular orientation difference in a range of 5° to 14° is, by area ratio, in a range of 10% to 60%.