The present invention provides a method for transmitting and receiving a signal for D2D communication and a device therefor, which are used in a wireless access system that supports D2D communication. The method by which a terminal transmits and receives a signal for D2D communication, according to one embodiment of the present invention, can comprise the steps of: receiving a D2D data grant which includes information for transmitting and receiving D2D data from a base station; receiving, from the base station, a scheduling allocation grant which designates a resource for transmitting D2D scheduling allocation information; and transmitting the D2D scheduling allocation information and/or the D2D data to a specific D2D receiving terminal among a plurality of D2D receiving terminals. In this case, the specific D2D receiving terminal can be determined on the basis of the scheduling allocation grant and/or the D2D data grant.