This specification provides a beam failure recovery method in a wireless communication system. In this specification, a beam failure recovery method performed by a UE includes: receiving, from a base station, control information related to a candidate beam configuration for the beam failure recovery; selecting an RS having a quality of the threshold or more among the RSs related to the candidate beam identification; and; transmitting, to the base station, a beam failure recovery request based on an uplink (UL) resource related to the selected RS.