A Bluetooth communication method, a Bluetooth communication device, and a Bluetooth communication system are provided. The Bluetooth communication method comprises: segmenting a first signal data and performing a compression-encoding to construct a plurality of first signal data packets; constructing a plurality of first-standard Bluetooth packets, and detecting whether one of the plurality of first-standard Bluetooth packets is a command Bluetooth packet. If the first-standard Bluetooth packet is the command Bluetooth packet, transmitting the first-standard Bluetooth packet directly, and if not, replacing a valid information in the first-standard Bluetooth packet with one corresponding first signal data packet which is in the same data transmitting window as the first-standard Bluetooth packet for transmitting. A second terminal of the point-to-point link obtains the corresponding first signal data by decoding the first-standard Bluetooth packet. The above method can improve the transmission efficiency of signal data and reduce communication delay.