A unicast connection establishment method for a direct link, a terminal and a device are provided, the method is applied to a first terminal and includes the following steps: determining, according to status information of at least one second terminal, one terminal of the at least one second terminal as a target terminal for a unicast communication of a direct link; and establishing a unicast connection of the direct link with the target terminal, and determining transmission configuration information for performing a unicast data communication with the target terminal.