In an uplink information sending method, a terminal device receives scheduling information sent by an access network device in a first time unit. The terminal device determines a second time unit and a first time offset. The second time unit is after the first time unit, and the second time unit carries downlink information sent by the access network device. The terminal device further determines a third time unit. The third time unit is a time unit that is offset from the second time unit by the first time offset. Further, the terminal device sends first uplink information scheduled by using the scheduling information in the third time unit. In this way, information transmission flexibility and reliability can be improved.