A method for transmitting sidelink data, comprising: receiving, by a first terminal device, sidelink transmission resource indication information and first uplink transmission resource indication information configured by a network device, wherein the sidelink transmission resource indication information is used for indicating a sidelink transmission resource, and the first uplink transmission resource indication information is used for indicating a first uplink transmission resource; transmitting, by the first terminal device, sidelink data to at least one second terminal device on the sidelink transmission resource; and transmitting, by the first terminal device, first feedback information to the network device on the first uplink transmission resource, wherein the first feedback information is used for indicating whether the sidelink data has been received correctly, wherein the first uplink transmission resource indication information comprises time interval indication information, and the method further comprises: determining, by the first terminal device, slot information of the first uplink transmission resource according to the time interval indication information and the sidelink transmission resource indication information, characterized in that, the determining, by the first terminal device, the slot information of the first uplink transmission resource according to the time interval indication information and the sidelink transmission resource indication information comprises: if the sidelink transmission resource indication information is configured through type-1 sidelink configured grant, and RRC used for the type-1 sidelink configured grant comprises the time interval indication information and slot offset indication information, determining, by the first terminal device, starting position of a sidelink transmission resource period according to the slot offset indication information, and determining the slot information of the first uplink transmission resource according to the time interval indication information and the starting position of the sidelink transmission resource period. receiving, by a first terminal device, sidelink transmission resource indication information and first uplink transmission resource indication information configured by a network device, wherein the sidelink transmission resource indication information is used for indicating a sidelink transmission resource, and the first uplink transmission resource indication information is used for indicating a first uplink transmission resource; transmitting, by the first terminal device, sidelink data to at least one second terminal device on the sidelink transmission resource; and transmitting, by the first terminal device, first feedback information to the network device on the first uplink transmission resource, wherein the first feedback information is used for indicating whether the sidelink data has been received correctly, wherein the first uplink transmission resource indication information comprises time interval indication information, and the method further comprises: determining, by the first terminal device, slot information of the first uplink transmission resource according to the time interval indication information and the sidelink transmission resource indication information, characterized in that, the determining, by the first terminal device, the slot information of the first uplink transmission resource according to the time interval indication information and the sidelink transmission resource indication information comprises: if the sidelink transmission resource indication information is configured through type-1 sidelink configured grant, and RRC used for the type-1 sidelink configured grant comprises the time interval indication information and slot offset indication information, determining, by the first terminal device, starting position of a sidelink transmission resource period according to the slot offset indication information, and determining the slot information of the first uplink transmission resource according to the time interval indication information and the starting position of the sidelink transmission resource period. determining, by the first terminal device, slot information of the first uplink transmission resource according to the time interval indication information and the sidelink transmission resource indication information, characterized in that, the determining, by the first terminal device, the slot information of the first uplink transmission resource according to the time interval indication information and the sidelink transmission resource indication information comprises: if the sidelink transmission resource indication information is configured through type-1 sidelink configured grant, and RRC used for the type-1 sidelink configured grant comprises the time interval indication information and slot offset indication information, determining, by the first terminal device, starting position of a sidelink transmission resource period according to the slot offset indication information, and determining the slot information of the first uplink transmission resource according to the time interval indication information and the starting position of the sidelink transmission resource period.