The communication method provided by the embodiment of the present application includes: when a resource conflict occurs, the terminal device acquires the composition state of the MAC SDU and the MAC CE in the MAC PDU of each resource; the terminal device determines the resource transmission priority of each resource according to the composition state of the MAC SDU and the MAC CE; the terminal device performs resource transmission according to the resource transmission priority of each resource. By determining a resource transmission priority of each resource according to the composition state of the MAC SDU and the MAC CE and determining current transmitted resource when a resource conflict occurs, the Qos requirements of information transmission can be guaranteed when the resource conflict occurs.