The present document discloses a method for transmitting/receiving signals using direct device-to-device (D2D) communication by using similar random access procedures in a wireless communication system, and a device therefor. To this end, one aspect of the present invention provides a method whereby a base station supports the device-to-device (D2D) communication of a terminal in idle mode in a wireless communication system, the base station according to the method: receiving a first message, which corresponds to one among a predetermined number of signatures for D2D communication, from a D2D transmission terminal; and transmitting a second message, which comprises control information for D2D signal reception, to one or more D2D reception terminals including a terminal in idle mode, wherein the second message allows the terminal in idle mode to receive a third message comprising a D2D broadcast or groupcast signal transmitted by the D2D transmission terminal.