A signal sending and receiving method includes: receiving, by a terminal device, at least one piece of resource configuration information for determining N reference signal resource groups, and each of the N reference signal resource groups includes at least one reference signal resource; and sending a reference signal on a resource in an ith reference signal resource group in the N reference signal resource groups by using a jth antenna group corresponding to the ith reference signal resource group, where the jth antenna group includes at least one antenna. The N reference signal resource groups correspond to N antenna groups, and any two of the N antenna groups are different.