A method and a device for transmitting and receiving a signal on the basis of multiple antennas are provided.A transmitting device may include a radio frequency (RF) module transmitting a quadrature amplitude modulation (QAM) signal of a first symbol corresponding to a hybrid frequency shift keying and quadrature amplitude modulation (FQAM) mode and transmitting a QAM signal of a second symbol corresponding to a QAM mode through a second antenna; and a modulation module mapping the QAM signal of the first symbol to one frequency tone among the preset number of frequency tones according to a frequency shift keying (FSK) signal of the first symbol and mapping the second symbol to the frequency tone to which the first symbol is mapped.