A method to control a parallel architecture hybrid vehicle provided with an internal combustion engine, a servo-assisted transmission provided, in turn, with a servo-assisted mechanical gearbox and a servo-assisted clutch, and a reversible electrical machine suited to generate a driving torque to be transmitted to the drive wheels and connected to a storage system adapted to store electrical energy; the method comprises the steps of: recognizing an interruption in the transmission of driving torque to the drive wheels during a gear shift due to the opening position of the servo-assisted clutch; determining an objective acceleration/deceleration profile (A obj) to be achieved during the entire amount of time in which there is an interruption in the transmission of driving torque to the drive wheels during a gear shift due to the opening position of the servo-assisted clutch; calculating an objective driving/breaking torque (C m_obj, C f_obj) that is such as to ensure the achievement of the objective acceleration/deceleration profile (A obj) during the entire amount of time in which there is an interruption in the transmission of driving torque to the drive wheels during a gear shift due to the opening position of the servo-assisted clutch; and controlling the reversible electrical machine so as to deliver to the drive wheels the objective driving/breaking torque (C m_obj, C f_obj) that is such as to ensure the achievement of the objective acceleration/deceleration profile (A obj) during the entire amount of time in which there is an interruption in the transmission of driving torque to the drive wheels during a gear shift due to the opening position of the servo-assisted clutch; the method is characterized in that it comprises the further steps of: learning the charge state of the storage system; and controlling the reversible electrical machine so as to deliver to the drive wheels the objective driving/breaking torque (C m_obj, C f_obj) only if the charge state of the storage system is sufficient to deliver the objective driving/breaking torque (C m_obj, C f_obj) that is such as to ensure the achievement of the objective acceleration/deceleration profile (A obj) during the entire amount of time in which there is an interruption in the transmission of driving torque to the drive wheels during a gear shift due to the opening position of the servo-assisted clutch. recognizing an interruption in the transmission of driving torque to the drive wheels during a gear shift due to the opening position of the servo-assisted clutch; determining an objective acceleration/deceleration profile (A obj) to be achieved during the entire amount of time in which there is an interruption in the transmission of driving torque to the drive wheels during a gear shift due to the opening position of the servo-assisted clutch; calculating an objective driving/breaking torque (C m_obj, C f_obj) that is such as to ensure the achievement of the objective acceleration/deceleration profile (A obj) during the entire amount of time in which there is an interruption in the transmission of driving torque to the drive wheels during a gear shift due to the opening position of the servo-assisted clutch; and controlling the reversible electrical machine so as to deliver to the drive wheels the objective driving/breaking torque (C m_obj, C f_obj) that is such as to ensure the achievement of the objective acceleration/deceleration profile (A obj) during the entire amount of time in which there is an interruption in the transmission of driving torque to the drive wheels during a gear shift due to the opening position of the servo-assisted clutch; the method is characterized in that it comprises the further steps of: learning the charge state of the storage system; and controlling the reversible electrical machine so as to deliver to the drive wheels the objective driving/breaking torque (C m_obj, C f_obj) only if the charge state of the storage system is sufficient to deliver the objective driving/breaking torque (C m_obj, C f_obj) that is such as to ensure the achievement of the objective acceleration/deceleration profile (A obj) during the entire amount of time in which there is an interruption in the transmission of driving torque to the drive wheels during a gear shift due to the opening position of the servo-assisted clutch. learning the charge state of the storage system; and controlling the reversible electrical machine so as to deliver to the drive wheels the objective driving/breaking torque (C m_obj, C f_obj) only if the charge state of the storage system is sufficient to deliver the objective driving/breaking torque (C m_obj, C f_obj) that is such as to ensure the achievement of the objective acceleration/deceleration profile (A obj) during the entire amount of time in which there is an interruption in the transmission of driving torque to the drive wheels during a gear shift due to the opening position of the servo-assisted clutch.