A device-to-device D2D communication method, comprising: determining, by a D2D transmitter, a second time slot for transmitting D2D data according to a first time slot for transmitting D2D signaling to a D2D receiver and a synchronous transmission relationship between the D2D signaling and the D2D data, wherein the synchronous transmission relationship comprises a constant interval between the first time slot and the second time slot, and wherein the second time slot is after the first time slot; determining, by the D2D transmitter, a third time slot for transmitting uplink control information in cellular communication according to the second time slot and a timing relationship between the uplink control information and data transmission in the cellular communication, wherein the uplink control information is carried in a physical downlink control channel, PDCCH, and transmitted, wherein the uplink control information is used for indicating an uplink radio resource in the second time slot of a cellular UE, and the third time slot is before the second time slot and after the first time slot; demodulating, by the D2D transmitter, the uplink control information in the third time slot to acquire the uplink radio resource in the second time slot of the cellular UE, wherein the uplink control information indicates the uplink radio resource; spatial multiplexing, by the D2D transmitter, the uplink radio resource in the second time slot of the cellular UE to perform D2D communication with the D2D receiver; transmitting, by the D2D transmitter, to the D2D receiver indication information for indicating the second time slot and the uplink radio resource multiplexed in the second time slot of the cellular UE, so that the D2D receiver performs D2D communication using the uplink radio resource in the second time slot of the cellular UE. determining, by a D2D transmitter, a second time slot for transmitting D2D data according to a first time slot for transmitting D2D signaling to a D2D receiver and a synchronous transmission relationship between the D2D signaling and the D2D data, wherein the synchronous transmission relationship comprises a constant interval between the first time slot and the second time slot, and wherein the second time slot is after the first time slot; determining, by the D2D transmitter, a third time slot for transmitting uplink control information in cellular communication according to the second time slot and a timing relationship between the uplink control information and data transmission in the cellular communication, wherein the uplink control information is carried in a physical downlink control channel, PDCCH, and transmitted, wherein the uplink control information is used for indicating an uplink radio resource in the second time slot of a cellular UE, and the third time slot is before the second time slot and after the first time slot; demodulating, by the D2D transmitter, the uplink control information in the third time slot to acquire the uplink radio resource in the second time slot of the cellular UE, wherein the uplink control information indicates the uplink radio resource; spatial multiplexing, by the D2D transmitter, the uplink radio resource in the second time slot of the cellular UE to perform D2D communication with the D2D receiver; transmitting, by the D2D transmitter, to the D2D receiver indication information for indicating the second time slot and the uplink radio resource multiplexed in the second time slot of the cellular UE, so that the D2D receiver performs D2D communication using the uplink radio resource in the second time slot of the cellular UE.