A resource selection method, comprising: determining, by a first terminal device (110, 130, 140), a first resource, wherein the first resource comprises one or more of a resource used by a second terminal device to transmit data, a resource reserved by the second terminal device to transmit data, a resource determined based on the resource used by the second terminal device to transmit data, or a resource determined based on the resource reserved by the second terminal device to transmit data; and skipping, by the first terminal device (110, 130, 140), using a second resource, or reselecting, by the first terminal device (110, 130, 140), a third resource, when the first resource and the second resource overlap and a preset condition is met, wherein the preset condition comprises a priority of transmission data of the first terminal device and a priority of transmission data of the second terminal device, and the skipping, by the first terminal device, using the second resource, or reselecting, by the first terminal device, the third resource, if the first resource and the second resource overlap, and the preset condition is met, comprises: skipping, by the first terminal device, using the second resource, if the first resource and the second resource overlap, the priority of the transmission data of the first terminal device is greater than a second threshold, and the priority of the transmission data of the second terminal device is less than or equal to the second threshold, wherein the second resource comprises one or more of a resource selected by the first terminal device (110, 130, 140) to transmit data, a candidate resource to be used by the first terminal device to transmit data, a resource determined based on the resource selected by the first terminal device (110, 130, 140) to transmit data, or a resource determined based on the candidate resource to be used by the first terminal device to transmit data. determining, by a first terminal device (110, 130, 140), a first resource, wherein the first resource comprises one or more of a resource used by a second terminal device to transmit data, a resource reserved by the second terminal device to transmit data, a resource determined based on the resource used by the second terminal device to transmit data, or a resource determined based on the resource reserved by the second terminal device to transmit data; and skipping, by the first terminal device (110, 130, 140), using a second resource, or reselecting, by the first terminal device (110, 130, 140), a third resource, when the first resource and the second resource overlap and a preset condition is met, wherein the preset condition comprises a priority of transmission data of the first terminal device and a priority of transmission data of the second terminal device, and the skipping, by the first terminal device, using the second resource, or reselecting, by the first terminal device, the third resource, if the first resource and the second resource overlap, and the preset condition is met, comprises: skipping, by the first terminal device, using the second resource, if the first resource and the second resource overlap, the priority of the transmission data of the first terminal device is greater than a second threshold, and the priority of the transmission data of the second terminal device is less than or equal to the second threshold, wherein the second resource comprises one or more of a resource selected by the first terminal device (110, 130, 140) to transmit data, a candidate resource to be used by the first terminal device to transmit data, a resource determined based on the resource selected by the first terminal device (110, 130, 140) to transmit data, or a resource determined based on the candidate resource to be used by the first terminal device to transmit data. skipping, by the first terminal device, using the second resource, if the first resource and the second resource overlap, the priority of the transmission data of the first terminal device is greater than a second threshold, and the priority of the transmission data of the second terminal device is less than or equal to the second threshold, wherein the second resource comprises one or more of a resource selected by the first terminal device (110, 130, 140) to transmit data, a candidate resource to be used by the first terminal device to transmit data, a resource determined based on the resource selected by the first terminal device (110, 130, 140) to transmit data, or a resource determined based on the candidate resource to be used by the first terminal device to transmit data.