Embodiments of the present application provide a wireless communication method, a terminal device and a network device capable of implementing contention-based access while avoiding conflicts. The method includes: transmitting, by a terminal device, a sounding signal to a network device when there is uplink data to be transmitted, where the sounding signal is used for contending for a first pre-allocated resource; and transmitting, by the terminal device, the uplink data to be transmitted on the first pre-allocated resource, when receiving a first feedback signal sent by the network device in response to the sounding signal, where the first feedback signal is used for indicate that the terminal device has a successful contention for the first pre-allocated resource.