A hybrid vehicle control method is provided, in which a drive motor and an engine generate power and a hybrid starter generator connected to the engine generates electric power. The vehicle control method includes determining whether the vehicle is in a regenerative control mode and selecting a regenerative torque for the hybrid starter generator connected to the engine. The selected regenerative torque is applied to the hybrid starter generator and electric power is generated with the regenerative torque selected by the hybrid starter generator. In the regenerative torque selection, the regenerative torque with which maximum regenerative energy is produced is selected based on regenerative torque selection factors including a hybrid starter generator rotation speed.