A wireless communication method and a terminal device. The method comprises: a first terminal receives a sidelink data channel and/or a sidelink reference signal sent by a second terminal; the first terminal determines a resource pool configuration and/or a transmission resource of a first sidelink feedback channel, wherein the first sidelink feedback channel is a second-type sidelink feedback channel, the second-type sidelink feedback channel is used to carry sidelink feedback information of the sidelink data channel and/or a measurement result of the sidelink reference signal, and the number of bits of information carried in the second-type sidelink feedback channel is greater than 1; and the first terminal sends the first sidelink feedback channel to the second terminal according to the resource pool configuration and/or the transmission resource of the first sidelink feedback channel.