A method to control a hybrid vehicle with a parallel architecture and with a known speed profile, wherein the hybrid vehicle is provided with an internal combustion engine, a servo-assisted transmission and a reversible electrical machine, which can act both as an engine by absorbing electrical energy from a storage system and by generating mechanical work to transmit a driving torque to the drive wheels and as a generator by absorbing mechanical work and by generating electrical energy to be stored, if necessary, in the storage system; the method comprising the steps of: obtaining, from the known speed profile and from the known profile of the engaged gear of an actuation cycle, the known profile of the angular speed of a drive shaft; dividing the known profile of the angular speed of the drive shaft of an actuation cycle into a plurality of reference time intervals (Δi) with a different duration and, respectively, with a constant angular speed or with a constant angular acceleration or with a constant angular deceleration; determining the optimal distribution of the mechanical energy (E i) produced by the internal combustion engine for each one of the time intervals (Δ i), solving the problem of the global minimization of the cumulative fuel consumption over the entire time frame of the actuation cycle: min ∑ i FC i E i wherein the function FC i (E i) expresses the cumulative fuel consumption over the reference time interval (Δ i) when the internal combustion engine cumulatively produces mechanical energy (E i) over the reference time interval (Δ i), following an optimal driving torque profile (τ OPT) for the minimization of the cumulative fuel consumption to be transmitted to the drive wheels, and wherein, for the reference time intervals (Δ i) with a constant angular speed, the value of the angular speed (n i 1) is known and, for the reference time intervals (Δ i) with a constant angular acceleration or deceleration, the values of the initial speed (n i 1) and final speed (n i 2) are known; controlling the reversible electrical machine to deliver to the drive wheels an additional driving torque to be added to the optimal driving torque (τ OPT) for the minimization of the cumulative fuel consumption delivered by the internal combustion engine, so as to transmit to the drive wheels the drive corresponding to the execution of the known speed profile of the hybrid vehicle. obtaining, from the known speed profile and from the known profile of the engaged gear of an actuation cycle, the known profile of the angular speed of a drive shaft; dividing the known profile of the angular speed of the drive shaft of an actuation cycle into a plurality of reference time intervals (Δi) with a different duration and, respectively, with a constant angular speed or with a constant angular acceleration or with a constant angular deceleration; determining the optimal distribution of the mechanical energy (E i) produced by the internal combustion engine for each one of the time intervals (Δ i), solving the problem of the global minimization of the cumulative fuel consumption over the entire time frame of the actuation cycle: min ∑ i FC i E i wherein the function FC i (E i) expresses the cumulative fuel consumption over the reference time interval (Δ i) when the internal combustion engine cumulatively produces mechanical energy (E i) over the reference time interval (Δ i), following an optimal driving torque profile (τ OPT) for the minimization of the cumulative fuel consumption to be transmitted to the drive wheels, and wherein, for the reference time intervals (Δ i) with a constant angular speed, the value of the angular speed (n i 1) is known and, for the reference time intervals (Δ i) with a constant angular acceleration or deceleration, the values of the initial speed (n i 1) and final speed (n i 2) are known; controlling the reversible electrical machine to deliver to the drive wheels an additional driving torque to be added to the optimal driving torque (τ OPT) for the minimization of the cumulative fuel consumption delivered by the internal combustion engine, so as to transmit to the drive wheels the drive corresponding to the execution of the known speed profile of the hybrid vehicle.