A heteroaryl[4,3-c]pyrimidin-5-amine derivative, a preparation method therefor, and medical uses thereof are provided. Specifically, a heteroaryl[4,3-c]pyrimidin-5-amine derivative of formula (I), a preparation method therefor, a pharmaceutical composition containing the derivative, and uses thereof as therapeutic agents are provided. In particular, the provided compounds can be used as A2a receptor antagonists and for treatment of conditions or symptoms that are ameliorated by inhibiting the A2a receptor. The various substituent groups in the formula (I) have the meanings as described in the specification.