The present disclosure discloses a method for resource selection in D2D communication and a terminal device, the method includes: performing, by a physical layer of a first terminal device, sensing in a first resource pool on a first carrier within a time interval [n+T1, n+T2] to obtain a first resource set, and resources in the first resource set can be used for the first terminal device to transmit a target service, where n is a time when the target service arrives, or a time when the first terminal device determines that performing sensing is required, 0≤T1