The present disclosure provides a method of controlling a towing mode of an vehicle, which may easily charge a battery of a towed vehicle by allowing a motor of the towed vehicle to output a charging torque for charging the battery and allowing a motor of the towed vehicle to output a creep torque or a regenerative braking torque capable of charging the battery even upon deceleration traveling together with a compensation control of increasing engine output power of a towing vehicle compared to default output power upon acceleration and constant speed traveling by selecting one of an eco-towing mode, a power towing mode, and a target charging towing mode for charging the battery of the towed vehicle when the towing vehicle, which is a hybrid electric vehicle, tows the towed vehicle, which is an electric vehicle or a hybrid electric vehicle.