The present specification relates to a method for transmitting and receiving data in a wireless communication system supporting device-to-device (D2D) communication, and the method performed by a first terminal comprises the steps of: acquiring a resource pool used for D2D communication, wherein the resource pool includes either a scheduling assignment (SA) resource pool indicating a resource region through which an SA is transmitted or a data resource pool indicating a resource region through which D2D data is transmitted; transmitting, to a second terminal through the SA resource pool, the SA including information related to D2D data transmission; and transmitting the D2D data to the second terminal.