In this paper, a motor control algorithm for performing a mode change without an integrated starter generator (ISG) is suggested for the automatic transmission-based hybrid electric vehicle (HEV). Dynamic models of the HEV powertrains such as engine, motor, and mode clutch are derived for the transient state during the mode change, and the HEV performance simulator is developed. Using the HEV performance bench tester, the characteristics of the mode clutch torque are measured and the motor torque required for the mode clutch synchronization is determined. Based on the dynamic models and the mode clutch torque, a motor torque control algorithm is presented for mode changes, and motor control without the ISG is investigated and compared with the existing ISG control.