This application discloses a communication method, a communications apparatus and a communications system, to resolve a problem that a terminal cannot quickly resume a communication connection to a secondary node. The method includes: sending a first message to a first master node to request state transition of a terminal from a third mode to a connected mode; receiving a second message from the first master node, where the second message comprises a first security parameter and SCG configuration information, and completing, based on the first security parameter and the SCG configuration information, a communication connection to the secondary node.