Methods and apparatuses for configuring sidelink resource are provided. A method includes that a first sidelink terminal: generates resource sensing indication information; transmits the resource sensing indication information to a second sidelink terminal, where the resource sensing indication information instructs the second sidelink terminal to perform resource sensing according to the resource sensing indication information and return an obtained resource sensing result to the first sidelink terminal; receives the resource sensing result returned by the second sidelink terminal; and selects a sidelink resource for sidelink communication according to the resource sensing result.