A random access method method includes: an access network device receiving a message A that is sent by a terminal, the message A comprising a random access preamble sequence and physical uplink shared channel (PUSCH) data; the access network device sending a first response message or a second response message, the first response message being used to instruct the terminal to send message 3 in a 4-step random access process, the second response message being used to instruct the terminal to send a re-transmission message of the message A, and the re-transmission message at least comprising the PUSCH data.