Provided are a method for transmitting data, and devices. A method for transmitting data can be provided for a terminal device in the process of maintaining communication between the terminal device and multiple devices. The method comprises: where there is data to be transmitted between the terminal device and a first device and between the terminal device and a second device, and/or an available resource between the terminal device and the first device conflicts with an available resource between the terminal device and the second device, the terminal device determining, according to first information, data for prioritized transmission or a resource for prioritized use; and the terminal device sending the data for prioritized transmission, or, the terminal device sending the data on the resource for prioritized use.