A battery discharge limit control system is provided. The system includes a motor driven by receiving the power stored in a battery and a clutch connected to the rotary shaft of the motor. Additionally, an engine includes the rotary shaft connected to the rotary shaft of the motor through the clutch and a transmission changes the rotational speed of the rotary shaft of the motor or the engine based on the input of the shift stage instruction to output the rotational speed to a driving wheel of a vehicle. A controller opens the clutch and drives the motor in the reverse rotation, when the input of the shift stage instruction is a reverse shift stage.