The present application provides a method for transmitting or receiving a sidelink signal by a terminal in a wireless communication system. Specifically, the method for transmitting or receiving a sidelink signal comprises the steps of: transmitting a first sidelink signal during a transmission period by using a transmission resource selected among resource units included in a first transmission resource pool; monitoring resource units included in a second transmission resource pool; and transmitting a second sidelink signal during the transmission period by using a selected transmission resource on the basis of a result of the monitoring among the resource units included in the second transmission resource pool when a resource pool changes from the first transmission resource pool to the second transmission resource pool, wherein the second transmission resource pool is included in a reception resource pool corresponding to the first transmission resource pool.