Provided are a communication method, a terminal device and a network device. The terminal device receives configuration information sent by a network device, the configuration information being used for indicating one or more conditions for the terminal device to report random access-related information. The terminal device sends a successful handover report that does not contain the random access-related information to the network device in response to a random access of the terminal device not satisfying the one or more conditions for reporting the random access-related information.