A method for transmitting data comprising: determining, by a terminal device, a multiple access mode of uplink transmission; determining, by the terminal device, a multiplexing mode of a first uplink signal and a second uplink signal on a target time domain resource according to the multiple access mode of the uplink transmission, wherein the first uplink signal and the second uplink signal are signals which a terminal device is scheduled to transmit on the target time domain resource simultaneously; and transmitting, by the terminal device, the first uplink signal and/or the second uplink signal according to the multiplexing mode; wherein determining the multiplexing mode of the first uplink signal and the second uplink signal on the target time domain resource according to the multiple access mode of the uplink transmission, comprises: determining a third uplink signal from the first uplink signal and the second uplink signal, when the multiple access mode of the uplink transmission is Discrete Fourier Transform-Spread-Orthogonal Frequency Division Multiplexing, DFT-S-OFDM; and sending the third uplink signal on the target time domain resource; wherein determining the third uplink signal from the first uplink signal and the second uplink signal, comprises: determining a priority of the first uplink signal and a priority of the second uplink signal; and determining the third uplink signal from the first uplink signal and the second uplink signal according to the priority of the first uplink signal and the priority of the second uplink signal. determining, by a terminal device, a multiple access mode of uplink transmission; determining, by the terminal device, a multiplexing mode of a first uplink signal and a second uplink signal on a target time domain resource according to the multiple access mode of the uplink transmission, wherein the first uplink signal and the second uplink signal are signals which a terminal device is scheduled to transmit on the target time domain resource simultaneously; and transmitting, by the terminal device, the first uplink signal and/or the second uplink signal according to the multiplexing mode; wherein determining the multiplexing mode of the first uplink signal and the second uplink signal on the target time domain resource according to the multiple access mode of the uplink transmission, comprises: determining a third uplink signal from the first uplink signal and the second uplink signal, when the multiple access mode of the uplink transmission is Discrete Fourier Transform-Spread-Orthogonal Frequency Division Multiplexing, DFT-S-OFDM; and sending the third uplink signal on the target time domain resource; wherein determining the third uplink signal from the first uplink signal and the second uplink signal, comprises: determining a priority of the first uplink signal and a priority of the second uplink signal; and determining the third uplink signal from the first uplink signal and the second uplink signal according to the priority of the first uplink signal and the priority of the second uplink signal. determining a third uplink signal from the first uplink signal and the second uplink signal, when the multiple access mode of the uplink transmission is Discrete Fourier Transform-Spread-Orthogonal Frequency Division Multiplexing, DFT-S-OFDM; and sending the third uplink signal on the target time domain resource; wherein determining the third uplink signal from the first uplink signal and the second uplink signal, comprises: determining a priority of the first uplink signal and a priority of the second uplink signal; and determining the third uplink signal from the first uplink signal and the second uplink signal according to the priority of the first uplink signal and the priority of the second uplink signal. determining a priority of the first uplink signal and a priority of the second uplink signal; and determining the third uplink signal from the first uplink signal and the second uplink signal according to the priority of the first uplink signal and the priority of the second uplink signal.