Disclosed herein is a method of controlling the travel of a hybrid electric vehicle in an emergency. It is determined whether an abnormality has occurred in a low voltage Direct Current-Direct Current (DC-DC) converter. When it is determined that an abnormality has occurred in the low voltage DC-DC converter, it is determined whether the voltage of a low voltage battery has deviated from the operational voltage range of a braking device. When the voltage of the low voltage battery has deviated from the operational voltage range of the braking device, a restricted vehicle speed is set to take into account mechanical braking power. A maximum torque used to restrict the torque of a driving motor is set based on the set restricted vehicle speed.