A terminal device configured to communicate with a base station device in a dual connectivity, the terminal device comprising: a transmission unit configured to perform a transmission of a physical uplink shared channel as an uplink transmission; and a control unit configured to in a first case that an uplink transmission timing for a timing advance group including a primary cell of a master cell group, an uplink transmission timing for a secondary timing advance group of a secondary cell group, and an uplink transmission timing for a timing advance group including a primary secondary cell of the secondary cell group are configured, and a difference between the uplink transmission timing for the timing advance group including the primary cell of the master cell group and the uplink transmission timing for the secondary timing advance group of the secondary cell group exceeds a maximum transmission timing difference, and in a second case that the uplink transmission timing for the timing advance group including the primary cell of the master cell group, the uplink transmission timing for the secondary timing advance group of the secondary cell group, and the uplink transmission timing for the timing advance group including the primary secondary cell of the secondary cell group are configured, and a difference between the uplink transmission timing for the timing advance group including the primary secondary cell of the secondary cell group and the uplink transmission timing for the secondary timing advance group of the secondary cell group exceeds the maximum transmission timing difference, consider a timer for the secondary timing advance group of the secondary cell group as expired, and stop the uplink transmission of the secondary timing advance group of the secondary cell group. a transmission unit configured to perform a transmission of a physical uplink shared channel as an uplink transmission; and a control unit configured to in a first case that an uplink transmission timing for a timing advance group including a primary cell of a master cell group, an uplink transmission timing for a secondary timing advance group of a secondary cell group, and an uplink transmission timing for a timing advance group including a primary secondary cell of the secondary cell group are configured, and a difference between the uplink transmission timing for the timing advance group including the primary cell of the master cell group and the uplink transmission timing for the secondary timing advance group of the secondary cell group exceeds a maximum transmission timing difference, and in a second case that the uplink transmission timing for the timing advance group including the primary cell of the master cell group, the uplink transmission timing for the secondary timing advance group of the secondary cell group, and the uplink transmission timing for the timing advance group including the primary secondary cell of the secondary cell group are configured, and a difference between the uplink transmission timing for the timing advance group including the primary secondary cell of the secondary cell group and the uplink transmission timing for the secondary timing advance group of the secondary cell group exceeds the maximum transmission timing difference, consider a timer for the secondary timing advance group of the secondary cell group as expired, and stop the uplink transmission of the secondary timing advance group of the secondary cell group.