In this paper, a complete classification of finite simple cubic vertex-transitive graphs of girth $6$ is obtained. It is proved that every such graph, with the exception of the Desargues graph on $20$ vertices, is either a skeleton of a hexagonal tiling of the torus, the skeleton of the truncation of an arc-transitive triangulation of a closed hyperbolic surface, or the truncation of a $6$-regular graph with respect to an arc-transitive dihedral scheme. Cubic vertex-transitive graphs of girth larger than $6$ are also discussed.