A channel transmission method, comprising: receiving, by a terminal device, first information transmitted by a network device at a first moment; determining, by the terminal device, a first time domain resource for transmitting a first uplink channel according to the first information, wherein the first time domain resource is located in a target time domain resource unit, the first time domain resource comprises P channel resource units, each of the P channel resource units comprises M time domain symbols, and last N time domain symbols of the M time domain symbols are used to transmit a reference signal, wherein P, M, and N are positive integers, and N is not greater than M; receiving, by the terminal device, second information transmitted by the network device at a second moment; determining, by the terminal device, a second time domain resource for transmitting the first uplink channel according to the second information, wherein the second moment is after the first moment, the second time domain resource is located in the target time domain resource unit and the first time domain resource comprises the second time domain resource; and transmitting, by the terminal device, the first uplink channel to the network device on the second time domain resource; wherein the determining, by the terminal device, a second time domain resource for transmitting the first uplink channel according to the second information comprises: determining, by the terminal device, to transmit a second uplink channel or signal on a third time domain resource in the target time domain resource unit according to the second information, wherein the third time domain resource at least partially overlaps with the first time domain resource; and determining, by the terminal device, a time domain resource in the first time domain resource that does not overlap with the third time domain resource as the second time domain resource. receiving, by a terminal device, first information transmitted by a network device at a first moment; determining, by the terminal device, a first time domain resource for transmitting a first uplink channel according to the first information, wherein the first time domain resource is located in a target time domain resource unit, the first time domain resource comprises P channel resource units, each of the P channel resource units comprises M time domain symbols, and last N time domain symbols of the M time domain symbols are used to transmit a reference signal, wherein P, M, and N are positive integers, and N is not greater than M; receiving, by the terminal device, second information transmitted by the network device at a second moment; determining, by the terminal device, a second time domain resource for transmitting the first uplink channel according to the second information, wherein the second moment is after the first moment, the second time domain resource is located in the target time domain resource unit and the first time domain resource comprises the second time domain resource; and transmitting, by the terminal device, the first uplink channel to the network device on the second time domain resource; wherein the determining, by the terminal device, a second time domain resource for transmitting the first uplink channel according to the second information comprises: determining, by the terminal device, to transmit a second uplink channel or signal on a third time domain resource in the target time domain resource unit according to the second information, wherein the third time domain resource at least partially overlaps with the first time domain resource; and determining, by the terminal device, a time domain resource in the first time domain resource that does not overlap with the third time domain resource as the second time domain resource. determining, by the terminal device, to transmit a second uplink channel or signal on a third time domain resource in the target time domain resource unit according to the second information, wherein the third time domain resource at least partially overlaps with the first time domain resource; and determining, by the terminal device, a time domain resource in the first time domain resource that does not overlap with the third time domain resource as the second time domain resource.