A frequency offset estimation method, device, communication device and storage medium are provided. The method comprises: acquiring a main peak and a secondary peak of a PRACH signal when detecting that an access signal is in the PRACH signal sent by the signal sending end, wherein the PRACH signal is composed of a preset number of identical leader sequences; determining a first frequency offset according to a peak value of the main peak and a peak value of the secondary peak; performing a frequency offset compensation on the PRACH signal according to the first frequency offset, to obtain a compensation sequence after the frequency offset compensation; and calculating a frequency offset between the compensation sequence and the leader sequences, to obtain a second frequency offset, so as to estimate a time delay of the access signal according to the second frequency offset.