An uplink control information transmission method, comprising: determining a transmission configuration set corresponding to uplink control information to be sent; selecting a transmission configuration from the transmission configuration set; and transmitting the uplink control information to be sent according to the selected transmission configuration, characterized in that in response to determining that the uplink control information to be sent comprises response information, the determining a transmission configuration set corresponding to uplink control information to be sent comprises: determining the transmission configuration set according to a responded object, and selecting the transmission configuration according to times of retransmission, wherein the responded object is data or control information, and the transmission configuration set for the case where the responded object is first transmitted is different from the transmission configuration set for the case where the responded object is retransmitted; or in response to determining that the uplink control information to be sent comprises channel state information, CSI, the determining a transmission configuration set corresponding to uplink control information to be sent comprises: determining the transmission configuration set according to a type of the CSI which comprises at least one of: quantization information of a matrix of a channel, quantization information of feature vectors of the channel, a channel quality indicator/index, CQI, interference measurement, a precoding matrix indicator, PMI, a rank indicator, RI, of the channel, feedback information of a number of precoding layers, a channel state information reference signal resource indicator/index, CRI, port selection information, indication information of a measurement resource location, or a beam indicator/index, BI, wherein different types of the CSI correspond to different transmission configuration sets. determining a transmission configuration set corresponding to uplink control information to be sent; selecting a transmission configuration from the transmission configuration set; and transmitting the uplink control information to be sent according to the selected transmission configuration, characterized in that in response to determining that the uplink control information to be sent comprises response information, the determining a transmission configuration set corresponding to uplink control information to be sent comprises: determining the transmission configuration set according to a responded object, and selecting the transmission configuration according to times of retransmission, wherein the responded object is data or control information, and the transmission configuration set for the case where the responded object is first transmitted is different from the transmission configuration set for the case where the responded object is retransmitted; or in response to determining that the uplink control information to be sent comprises channel state information, CSI, the determining a transmission configuration set corresponding to uplink control information to be sent comprises: determining the transmission configuration set according to a type of the CSI which comprises at least one of: quantization information of a matrix of a channel, quantization information of feature vectors of the channel, a channel quality indicator/index, CQI, interference measurement, a precoding matrix indicator, PMI, a rank indicator, RI, of the channel, feedback information of a number of precoding layers, a channel state information reference signal resource indicator/index, CRI, port selection information, indication information of a measurement resource location, or a beam indicator/index, BI, wherein different types of the CSI correspond to different transmission configuration sets.