This paper presents a HEV modelling and simulation that incorporates both energy management system (EMS) controller and vehicle dynamics controller (VDC) which was converted from a conventional vehicle. Prior to building the HEV model, a vehicle dynamics experiment was conducted purposely to validate to base model created in ADAMS/Car. The base and HEV vehicle model was built in ADAMS/Car whilst the controller which includes the EMS and VDC was built in MATLAB/Simulink by utilising the Fuzzy Logic Controller (FLC). The HEV model and its controllers were analyzed for its performance and characteristics using co-simulation environment between ADAMS/Car and MATLAB/Simulink. Initially, separate sets of simulations were performed to test the operations of the vehicle dynamic controller and energy management controller. The model was found to have improved in handling characteristics and the results from EMS controller was found to be in close agreement with the results of the model simulated using ADVISOR. Later, an integrated simulation set was conducted with two controllers functioning concurrently and an additional simulation concentrating on the fuel usage during cornering was conducted. The results revealed that the HEV model has shown some improvement in term of fuel consumption and handling in comparison to the base model. The results obtained from the simulations revealed that the HEV model converted from a conventional vehicle proposed in this research was a success.