A vehicle control system includes an accelerator sensor which detects an accelerator opening, a target acceleration setting unit which sets a target acceleration of a vehicle based on the detected accelerator opening, a target torque setting unit which sets a target torque of a drive source based on the set target acceleration, and a drive source controller which controls the drive source to generate the set target torque. In a case where the target acceleration at a time when the accelerator opening is increased is set as a depression-increasing target acceleration and the target acceleration at a time when the accelerator opening is decreased is set as a pedal-returning target acceleration, under the same condition of the accelerator opening, the target acceleration setting unit sets the target acceleration such that the pedal-returning target acceleration becomes lower than the depression-increasing target acceleration.