The present disclosure provides a D2D communication method, including: a first terminal device receives a control channel transmitted by a second terminal device on a first transmission time interval TTI, where the control channel includes a specific bit, and the specific bit is used to indicate a length of time domain used by the second terminal device for transmitting a data channel; the first terminal device senses the data channel transmitted by the second terminal device based on the first TTI if a value on the specific bit indicates that the length of time domain is equal to a length of the first TTI; and the first terminal device senses the data channel transmitted by the second terminal device based on a second TTI if the value on the specific bit indicates that the length of time domain is equal to a length of the second TTI.