Certain aspects of the present disclosure to techniques for sidelink discovery in millimeter wave (e.g., Frequency Range 2 (FR2), or 24.25 GHz to 52.6 GHz) bands. For example, the disclosed techniques provides generating a sidelink discovery message including device information of the UE and non-device information. The sidelink discovery message is outputted for transmission. A sidelink connection with a receiver (Rx) UE can then be established after the output of the sidelink discovery message. Very often, beam training is required for FR2 communications. After beam sweep, the transmitter (Tx) UE and the Rx UE become aware of the primary beam directions and need to discover each other on a device level, by associating a beam pair link to a peer UE. As FR2 link often have high overhead to establish and maintain, the disclosed techniques enables device level and service level discovery using the discover message.