Hybrid electric vehicle includes an engine, a first electric motor, a second electric motor, an electric power storage device, and a control device. The control device is configured to control the engine and the first electric motor so that the engine is operated at a first predetermined engine speed while outputting a predetermined torque, and to control the second electric motor so that a driving force based on a required driving force is output, when the rapid catalyst warm-up is executed when the engine is idle off.