This paper studies the minimization of the fuel consumption of hybrid electric vehicles (HEV) using model predictive control (MPC) method. The presented MPC-based controller calculates an optimal sequence of control inputs to the vehicle plant over the receding prediction horizon based on the torque demand estimated from the desired vehicle speed and the desired state of charge (SOC) of the battery. The controller is implemented in Simulink using Matlab model predictive control toolbox. The effectiveness of the MPC-based controller is validated by the 2004 Toyota Prius, a power-split HEV. The simulation result presents sound transient response performance and the ability to remain the SOC within a reasonable range.