A waypoint information transmission method, apparatus and system for platooning are provided. An example method for transmitting waypoint information of a platooning comprises: receiving, by an apparatus for transmitting waypoint information in real time, waypoint information of each cycle sent by a leading vehicle-mounted apparatus mounted on a leading vehicle; storing, by the apparatus, the waypoint information of each cycle, so as to form historical waypoint information; receiving, by the apparatus, a waypoint information transmission control instruction sent by the leading vehicle-mounted apparatus, and determining, according to the waypoint information transmission control instruction, target waypoint information based on the historical waypoint information; and sending, by the apparatus, the target waypoint information to a first vehicle-mounted apparatus mounted on a first following vehicle that is following the leading vehicle and to be enqueued for the platooning.