The present disclosure discloses a method for D2D communication, a terminal device and a network device, where the method includes: determining, by a terminal device, a resource pool for data transmission from a plurality of resource pools according to a transmission mode used by the terminal device and whether the terminal device has a sensing capability, where different resource pools in the plurality of resource pools are used for data transmission by different types of terminal devices, and at least one of the following information of the different types of terminal devices is different: a transmission mode in use, a supported version of a communication protocol, and whether or not there is the sensing capability; performing, by the terminal device, data transmission using a time-frequency resource in the resource pool. Therefore, different types of terminal devices can transmit data together in a communication system and mutual interference is reduced.