A hybrid vehicle includes: an engine; a driving motor/generator connected to an output shaft of the engine; a connection unit disposed between the engine and the driving motor/generator to separate the engine from the driving motor/generator when the engine is stopped and to connect the engine to the driving motor/generator when the engine is operated; a manual transmission connected to the driving motor/generator, for directly varying gear ratio without using an engine clutch according to a driving speed and a torque generated by the driving motor/generator and/or the engine; a position sensor for detecting a position of a manual gearshift lever; and a central control unit connected to the engine, the driving motor/generator, the connection unit, and the manual transmission. In order to perform a gearshift of the manual transmission, the central control unit separates the connection unit disposed between the engine and the driving motor/generator when the vehicle is stopped or driven at a preset speed or lower or connects the connection unit when the vehicle is driven at the preset speed or higher, and controls the driving motor/generator and/or the engine according to the detected position of the manual gearshift lever to adjust a speed of an input shaft of the manual transmission.