A signal transmission method comprises: a terminal device determining beam information about N groups of random access signals, wherein the beam information about the N groups of random access signals is the same, and each group of random access signals comprises M random access signals, M and N being positive integers; if the terminal device sends the N groups of random access signals to a network device according to the beam information about the N groups of random access signals, while does not receive a response message sent by the network device for the N groups of random access signals, redetermining the beam information about the N groups of random access signals; and the terminal device re-transmitting at least one random access signal in the N groups of random access signals to the network device according to the redetermined beam information about the N groups of random access signals.