Embodiments of this application disclose a non-connected-state uplink positioning method and devices. The method includes receiving first configuration information. The first configuration information is used to indicate a first uplink positioning resource when the terminal device is in a non-connected state. The method further includes when the terminal device enters the non-connected state, sending a first uplink positioning signal via the first uplink positioning resource, so that a positioning server can determine a location of the terminal device according to measurement information in the first uplink positioning signal.