A clutch control method for a vehicle, comprising steps of: calculating an estimated clutch torque by substituting a plurality of parameters, which represent physical properties of a clutch, and a sensed stroke of a clutch actuator into a predetermined characteristic function, which represents characteristics of a clutch transmission torque to a clutch actuator stroke, by a controller; updating the plurality of parameters as new values by a prediction error method based on a torque error, which is a difference between a reference clutch torque referring to a current transmission torque of the clutch and the estimated clutch torque calculated in the step of calculating the estimated clutch torque, by the controller; calculating a desired stroke by substituting a desired clutch torque and the updated parameters into a predetermined characteristic inverse function, which represents a clutch actuator stroke to a clutch transmission torque, by the controller; and driving the clutch actuator based on the calculated desired stroke to control the clutch by the controller, wherein the plurality of parameters comprise a touch point, a cushion spring constant, a diaphragm spring constant, a clutch actuator stroke at which a diaphragm spring begins to be deformed, and a rate of change of a value, which is obtained by adding the cushion spring constant and the diaphragm spring constant, based on a change of the clutch actuator stroke, wherein the characteristic function is calculated as: T ^ cl u ∨ = 1 2 tanh 10 u ∨ − p 0 + tanh 10 u ∨ − p 0 p 1 u ∨ − p 0 + 1 2 tanh p 4 u ∨ − p 0 − p 3 + tanh p 4 u ∨ − p 0 − p 3 p 2 u ∨ − p 0 − p 3, where: T̂ cl is an estimated clutch torque, ǔ is sensed clutch actuator stroke, p 0 is a clutch touch point, p 1 is a cushion spring constant, p 2 is a diaphragm spring constant, p 3 is a clutch actuator stroke at which a diaphragm spring begins to be deformed, and p 4 is a rate of change of a value, which is obtained by adding the cushion spring constant and the diaphragm spring constant, based on a change of the clutch actuator stroke, wherein the characteristic inverse function is calculated as: u ̃ T ̃ cl = p 0 + 1 p 1 T ̃ cl − p 2 α ∗ T ̃ cl − p 1 p 3 + β T ̃ cl − p 1 p 3 + γ p 1 p 1 + p 2 α ∗ T ̃ cl − p 1 p 3 + β T ̃ cl − p 1 p 3 + γ T ̃ cl − p 1 p 3, where: ũ is a desired stroke, T̂ cl is a desired clutch torque, α p 1 p 2 = 1.446 p 1 p 2 + 1.494 p 1 p 2 + 1.304, β p 1 p 2 p 4 = 103.7 p 2 p 1 − 154.8 p 2 p 1 + 2765 p 1 p 4, and γ p 1 p 2 p 4 = 2103 p 2 p 1 − 4146 p 2 p 1 + 5003 p 1 p 4. calculating an estimated clutch torque by substituting a plurality of parameters, which represent physical properties of a clutch, and a sensed stroke of a clutch actuator into a predetermined characteristic function, which represents characteristics of a clutch transmission torque to a clutch actuator stroke, by a controller; updating the plurality of parameters as new values by a prediction error method based on a torque error, which is a difference between a reference clutch torque referring to a current transmission torque of the clutch and the estimated clutch torque calculated in the step of calculating the estimated clutch torque, by the controller; calculating a desired stroke by substituting a desired clutch torque and the updated parameters into a predetermined characteristic inverse function, which represents a clutch actuator stroke to a clutch transmission torque, by the controller; and driving the clutch actuator based on the calculated desired stroke to control the clutch by the controller, wherein the plurality of parameters comprise a touch point, a cushion spring constant, a diaphragm spring constant, a clutch actuator stroke at which a diaphragm spring begins to be deformed, and a rate of change of a value, which is obtained by adding the cushion spring constant and the diaphragm spring constant, based on a change of the clutch actuator stroke, wherein the characteristic function is calculated as: T ^ cl u ∨ = 1 2 tanh 10 u ∨ − p 0 + tanh 10 u ∨ − p 0 p 1 u ∨ − p 0 + 1 2 tanh p 4 u ∨ − p 0 − p 3 + tanh p 4 u ∨ − p 0 − p 3 p 2 u ∨ − p 0 − p 3, where: T̂ cl is an estimated clutch torque, ǔ is sensed clutch actuator stroke, p 0 is a clutch touch point, p 1 is a cushion spring constant, p 2 is a diaphragm spring constant, p 3 is a clutch actuator stroke at which a diaphragm spring begins to be deformed, and p 4 is a rate of change of a value, which is obtained by adding the cushion spring constant and the diaphragm spring constant, based on a change of the clutch actuator stroke, T̂ cl is an estimated clutch torque, ǔ is sensed clutch actuator stroke, p 0 is a clutch touch point, p 1 is a cushion spring constant, p 2 is a diaphragm spring constant, p 3 is a clutch actuator stroke at which a diaphragm spring begins to be deformed, and p 4 is a rate of change of a value, which is obtained by adding the cushion spring constant and the diaphragm spring constant, based on a change of the clutch actuator stroke, wherein the characteristic inverse function is calculated as: u ̃ T ̃ cl = p 0 + 1 p 1 T ̃ cl − p 2 α ∗ T ̃ cl − p 1 p 3 + β T ̃ cl − p 1 p 3 + γ p 1 p 1 + p 2 α ∗ T ̃ cl − p 1 p 3 + β T ̃ cl − p 1 p 3 + γ T ̃ cl − p 1 p 3, where: ũ is a desired stroke, T̂ cl is a desired clutch torque, α p 1 p 2 = 1.446 p 1 p 2 + 1.494 p 1 p 2 + 1.304, β p 1 p 2 p 4 = 103.7 p 2 p 1 − 154.8 p 2 p 1 + 2765 p 1 p 4, and γ p 1 p 2 p 4 = 2103 p 2 p 1 − 4146 p 2 p 1 + 5003 p 1 p 4. ũ is a desired stroke, T̂ cl is a desired clutch torque, α p 1 p 2 = 1.446 p 1 p 2 + 1.494 p 1 p 2 + 1.304, β p 1 p 2 p 4 = 103.7 p 2 p 1 − 154.8 p 2 p 1 + 2765 p 1 p 4, and γ p 1 p 2 p 4 = 2103 p 2 p 1 − 4146 p 2 p 1 + 5003 p 1 p 4.