A control system for hybrid vehicles, in which a second prime mover is connected to an output member to which a power is transmitted from a first prime mover through a transmission in which a torque capacity is varied in accordance with an oil pressure, and which has a first hydraulic pump driven by the first prime mover for establishing an oil pressure to be fed to the transmission, and a second hydraulic pump arranged in parallel with the first hydraulic pump and driven by an electric motor. A torque limiter limits an output torque of the second prime mover temporarily to a predetermined torque which is lower than a maximum output torque, at a starting time of the first prime mover.