A method is provided for calculating a distance to a counterpart user equipment (UE) using device-to-device (D2D) communication, which is calculated by a UE in a wireless communication system. The UE receives a synchronization signal from a cluster head and receives a first discovery signal from the counterpart UE, and calculates a first difference value between a time of receiving the first discovery signal and a time of receiving the synchronization signal. The UE further receives, from the counterpart UE, information on a second difference value and calculates a first sum value of the first difference value and the second difference value. The UE receives, from the cluster head, information on a second sum value. The UE calculates a distance between the UE and the counterpart UE based on a difference between the second sum value and the first sum value.