Disclosed in the present invention are a measurement method, a terminal device, and a network device. The method comprises: a terminal device receives measurement configuration information sent by a network device, the measurement configuration information comprising multiple measurement object categories to be measured; the terminal device measures multiple measurement objects belonging to the multiple measurement object categories according to the measurement configuration information; and the terminal device sends a measurement reports to the network device, the measurement report comprising measurement results of measurement objects satisfying a reporting condition among the multiple measurement objects. In this way, the network device can obtain measurement information of multiple measurement objects one time, thereby satisfying the demand for high-performance wireless resource management.