A method of sidelink (SL) radio link failure (RLF) control for a first user equipment (UE) and a second UE is disclosed. The method comprises obtaining at least one SL RLF configuration, wherein the SL RLF configuration is associated with at least one SL radio bearer within at least one PC5 RRC connection and includes at least one SL RLF control parameter indicating at least one transmission range for SL communication, selecting, by the first UE, at least one SL RLF control parameter of the SL RLF configuration associated with the PC5 RRC connection, according to a communication distance between the first UE and the second UE and the at least one transmission range indicated by the at least one SL RLF control parameter, and determining, by the first UE, an SL RLF event occurs on the PC5 RRC connection based on the selected SL RLF control parameter.