The present document presents a method and device for transmitting and receiving a signal by using direct communication (D2D communication) between terminals by using a pseudo-RACH procedure in a wireless communication system. A transmission terminal performing the method randomly selects one of a certain number of D2D communication signatures to transmit a first message through a resource randomly selected from among predetermined time-frequency resources to a base station, and receives a second message including control information for a D2D broadcast or groupcast signal transmission from the base station, wherein the transmission terminal uses control information received through the second message to transmit a third message including a groupcast signal or the D2D broadcast to one or more reception terminals.