A signal transmission method, comprising: receiving at least one beam signal from a base station, wherein each of the at least one beam signal corresponds to a respective one beam; transmitting, in response to a first beam signal with a quality satisfying a first quality condition comprised in the at least one received beam signal, a verification signal and a data signal to the base station using a first beam corresponding to the first beam signal, wherein the verification signal is used by the base station to verify an identity of a terminal; selecting, in response to no first beam signal with the quality satisfying the first quality condition comprised in the at least one received beam signal, a second beam signal from the at least one received beam signal, and transmitting the verification signal to the base station using a second beam corresponding to the second beam signal; and transmitting, in response to receiving the first beam signal with the quality satisfying the first quality condition during a first time period after the verification signal is transmitted to the base station using the second beam corresponding to the second beam signal, the verification signal and the data signal to the base station using the first beam corresponding to the first beam signal; and transmitting, in response to not receiving the first beam signal with the quality satisfying the first quality condition during the first time period after the verification signal is transmitted to the base station using the second beam corresponding to the second beam signal, the data signal to the base station using the second beam corresponding to the second beam signal. receiving at least one beam signal from a base station, wherein each of the at least one beam signal corresponds to a respective one beam; transmitting, in response to a first beam signal with a quality satisfying a first quality condition comprised in the at least one received beam signal, a verification signal and a data signal to the base station using a first beam corresponding to the first beam signal, wherein the verification signal is used by the base station to verify an identity of a terminal; selecting, in response to no first beam signal with the quality satisfying the first quality condition comprised in the at least one received beam signal, a second beam signal from the at least one received beam signal, and transmitting the verification signal to the base station using a second beam corresponding to the second beam signal; and transmitting, in response to receiving the first beam signal with the quality satisfying the first quality condition during a first time period after the verification signal is transmitted to the base station using the second beam corresponding to the second beam signal, the verification signal and the data signal to the base station using the first beam corresponding to the first beam signal; and transmitting, in response to not receiving the first beam signal with the quality satisfying the first quality condition during the first time period after the verification signal is transmitted to the base station using the second beam corresponding to the second beam signal, the data signal to the base station using the second beam corresponding to the second beam signal.