A method and apparatus for establishing a device-to-device (D2D) connection in a wireless communication system is provided. A network transmits a connection establishment request message to request of the D2D connection establishment to a first device and a second device, receives a connection establishment response message indicating whether to accept the request of the D2D connection establishment from the first device and the second device, and transmits a connection establishment confirm message to confirm the D2D connection establishment to a first device and a second device. The connection establishment request message includes at least one of a connection establishment type, a quality of (QoS) parameter for the D2D connection, and security information.