A hybrid vehicle of the present invention includes: an engine, a first motor, a second motor, a clutch and an electronic control unit. The first motor is connected with an output shaft of the engine. The second motor is connected with a driving wheel and configured to generate a driving torque at the driving wheel. The clutch is arranged between the output shaft of the engine and the driving wheel and configured to engage or disengage the output shaft of the engine and a rotary shaft connected with the driving wheel. The electronic control unit is configured to control the clutch to be engaged and control the first motor to generate the driving torque at the driving wheel, when the second motor cannot generate a predetermined output torque and the clutch is disengaged.