Disclosed are a method and an apparatus for transmitting and receiving signals in a wireless communication system, the method comprising the steps of: measuring signal quality on the basis of a first beam set including a plurality of receiving beams; configuring a second beam set, on the basis of the first beam set, including a smaller number of receiving beams than the first beam set; measuring the signal quality on the basis of the second beam set; determining a reference value for the signal quality on the basis of the quality values measured on the basis of the second beam set; and, when the reference value is equal to or greater than the threshold value, transmitting information on the reference value to a base station, wherein the threshold value is determined on the basis of the maximum value from among the quality values measured on the basis of the first beam set, and a previously configured margin value.