A method of transmitting and receiving downlink control information in a wireless communication system that supports communication between terminals and a device for the same are provided. Specifically, a method of receiving downlink control information in a wireless communication system that supports Device-to-Device (D2D) communication includes: receiving, by a terminal, downlink control information for D2D communication from a base station, wherein the downlink control information includes a Physical Sidelink Shared Channel (PSSCH) resource allocation information for D2D data transmission, and a Physical Sidelink Control Channel (PSCCH) resource for D2D control information transmission is derived from the PSSCH resource allocation information.