Methods and apparatuses for handling discontinuous reception and partial sensing for sidelink communication to reduce potential latency due to additional sensing, and to improve resource utilization efficiency. A first device can perform sidelink communication to at least a second device, or a second device in a sidelink resource pool, and trigger to perform resource selection for a sidelink data at a timing. The first device can perform sensing for a first contiguous sensing duration before a sidelink on-duration active time of the second device, determine or select a first sidelink resource from a set of sidelink resources, derive or determine the set of sidelink resources based on at least a sensing result in the first contiguous sensing duration, and perform a first sidelink transmission on the first sidelink resource for transmitting the sidelink data to the second device.