The embodiments of the present application disclose a sidelink communication method, a terminal device and a network device. The method includes: determining, by a terminal device, a time frequency resource of a physical sidelink control channel (PSCCH) in a first time frequency unit; and receiving or transmitting, by the terminal device, the PSCCH on the time frequency resource. The method, the terminal device, and the network device in the embodiments of the present application help reducing the complexity of PSCCH detection by a terminal device at the receiving end.