We show that coherent-control techniques are uniquely suited for high-resolution hyperfine spectroscopy. We apply this method to a V-type system in the D₂ line of ¹³³Cs The spectrum of a weak probe beam shows Doppler-free transparency peaks when the strong control beam is resonant with a neighboring hyperfine transition. The lineshape and linewidth are consistent with theoretical calculations. Using an acousto-optic modulator to calibrate the frequency of the control beam, we measure hyperfine intervals in the 6P_3/2 state with an accuracy of 6 kHz. The measurement is important because there is a large discrepancy between two earlier measurements on this state.