A communication method, comprising: receiving, by a first terminal device, configuration information sent by a network device, wherein the configuration information is used for configuring a sidelink transmission resource and a transmission resource corresponding to a Physical Uplink Control Channel, PUCCH; sending, by the first terminal device, multiple sidelink transmissions to a second terminal device on the sidelink transmission resource; receiving, by the first terminal device, sidelink feedback information corresponding to the multiple sidelink transmissions from the second terminal device; and sending, by the first terminal device, the sidelink feedback information corresponding to the multiple sidelink transmissions to the network device, wherein the sidelink feedback information is carried by the PUCCH, wherein information carried by the PUCCH comprises a first feedback information field, and the first feedback information field is used for carrying the sidelink feedback information corresponding to the sidelink data; the sidelink transmission resource comprises a first sidelink transmission resource and/or a second sidelink transmission resource, the first sidelink transmission resource is a sidelink transmission resource configured by the network device for the first terminal device in a dynamic scheduling mode, and the second sidelink transmission resource is a sidelink transmission resource within one sidelink configured grant period configured by the network device for the first terminal device in a sidelink configured grant mode; the first feedback information field comprises a second feedback information field and/or a third feedback information field, sidelink feedback information corresponding to sidelink data sent by the first terminal device using the first sidelink transmission resource is carried by the second feedback information field, and sidelink feedback information corresponding to sidelink data sent by the first terminal device using the second sidelink transmission resource is carried by the third feedback information field; the method further comprises: determining, by the first terminal device, a DCI that is not received according to the number of DCIs cumulatively sent by the network device and a DCI received by the first terminal device; and the second feedback information field comprises a fourth feedback information field, and sidelink feedback information corresponding to the DCI not received by the first terminal device is carried by the fourth feedback information field. receiving, by a first terminal device, configuration information sent by a network device, wherein the configuration information is used for configuring a sidelink transmission resource and a transmission resource corresponding to a Physical Uplink Control Channel, PUCCH; sending, by the first terminal device, multiple sidelink transmissions to a second terminal device on the sidelink transmission resource; receiving, by the first terminal device, sidelink feedback information corresponding to the multiple sidelink transmissions from the second terminal device; and sending, by the first terminal device, the sidelink feedback information corresponding to the multiple sidelink transmissions to the network device, wherein the sidelink feedback information is carried by the PUCCH, wherein information carried by the PUCCH comprises a first feedback information field, and the first feedback information field is used for carrying the sidelink feedback information corresponding to the sidelink data; the sidelink transmission resource comprises a first sidelink transmission resource and/or a second sidelink transmission resource, the first sidelink transmission resource is a sidelink transmission resource configured by the network device for the first terminal device in a dynamic scheduling mode, and the second sidelink transmission resource is a sidelink transmission resource within one sidelink configured grant period configured by the network device for the first terminal device in a sidelink configured grant mode; the first feedback information field comprises a second feedback information field and/or a third feedback information field, sidelink feedback information corresponding to sidelink data sent by the first terminal device using the first sidelink transmission resource is carried by the second feedback information field, and sidelink feedback information corresponding to sidelink data sent by the first terminal device using the second sidelink transmission resource is carried by the third feedback information field; the method further comprises: determining, by the first terminal device, a DCI that is not received according to the number of DCIs cumulatively sent by the network device and a DCI received by the first terminal device; and the second feedback information field comprises a fourth feedback information field, and sidelink feedback information corresponding to the DCI not received by the first terminal device is carried by the fourth feedback information field.