Provided are a method and apparatus for establishing a session, and a related device. The method applied to a session receiver includes: receiving a session request sent by a server, the session request including a session priority; displaying session information and determining whether a session acceptance operation is detected in a preset period of time; when the session acceptance operation is not detected in the preset period of time and the session priority is urgent, sending a user perception request to at least one terminal device to acquire a target terminal device that perceives a user; and feeding back a first session response carrying an identifier of the target terminal device to the server, such that the server sends the session request to the target terminal device and establishes a session.