A powertrain backlash control system is provided for use with an electric vehicle (EV), where the EV uses at least one powertrain to provide forward vehicle motion and at least one additional powertrain to provide rearward vehicle motion. The control system eliminates backlash by maintaining a positive motor torque within each powertrain when the vehicle is in-gear, thus applying a minimum forward torque demand to the powertrain dedicated to forward motion and applying a minimum reverse torque demand to the powertrain dedicated to rearward motion.