The invention aims to provide a hybrid four-wheel drive system for improving riding comforts and a control method thereof. The hybrid four-wheel drive system comprises an engine, front wheels, a motor and rear wheels, the front wheels are mechanically connected with the engine through a speed changer, the rear wheels are mechanically connected with the motor through a speed reducer, a power supply of the motor is electrically connected with a low-voltage battery unit through an inverter, the motor is connected with a motor controller, the motor controller is connected with a riding comfort controller, and the riding comfort controller is respectively connected with the inverter, the low-voltage battery unit, a vehicle speed sensor, an engine rotating speed sensor, wheel speed sensors of all wheels, an accelerator pedal sensor, a braking pedal sensor and an engine control unit. According to the hybrid four-wheel drive system for improving riding comforts and the control method thereof, when the engine or a vehicle is in a poor working condition, the auxiliary drive by the rear wheels can be performed, so that the engine can work in the best fuel oil range, the vehicle can be assisted on stable operation, during braking, the motor of the rear wheels can be used for charging batteries, energy recovery can be achieved, and the comforts are improved.