A method for determining a Hybrid Automatic Repeat request, HARQ, process ID, comprising: determining, by a terminal device, a target parameter, wherein the target parameter comprises an index number of a configured grant configuration, and HARQ process information configured in the configured grant configuration, wherein the HARQ process information configured in the configured grant configuration comprises HARQ process quantity information configured by the configured grant configuration; wherein the configured grant presents that the terminal device transmits or receives data according to a preconfigured resource of a network side; and determining, by the terminal device, an HARQ process ID of an HARQ process corresponding to the configured grant configuration according to the target parameter; wherein when the HARQ process is UL transmission, the determining an HARQ process ID of an HARQ process corresponding to the configured grant configuration according to the target parameter comprises: calculating and determining the HARQ process ID of the HARQ process according to a formula of: HARQ process ID = [floor (current transmission time unit/periodicity of configured grant configuration)] % M i + offset;, wherein i is an index number of configured grant configuration, M i is a quantity of HARQ processes configured in an i th configured grant configuration, offset 0 = 0 when i = 0, offset i = ∑ j = 0 i − 1 M j when i > 0, M j represents a quantity of HARQ processes configured in a j th configured grant configuration; wherein when the HARQ process is DL transmission, the determining an HARQ process ID of an HARQ process corresponding to the configured grant configuration according to the target parameter comprises: calculating and determining the HARQ process ID of the HARQ process according to a formula of: HARQ process ID = [floor (current transmission time unit × 10/ (a quantity of slots in a radio frame × periodicity of configured grant configuration))] % M i + offset;, wherein i is an index number of configured grant configuration, M i is a quantity of HARQ processes configured in an i th configured grant configuration, offset 0 = 0 when i = 0, offset i = ∑ j = 0 i − 1 M j when i > 0, M j represents a quantity of HARQ processes configured in a j th configured grant configuration. determining, by a terminal device, a target parameter, wherein the target parameter comprises an index number of a configured grant configuration, and HARQ process information configured in the configured grant configuration, wherein the HARQ process information configured in the configured grant configuration comprises HARQ process quantity information configured by the configured grant configuration; wherein the configured grant presents that the terminal device transmits or receives data according to a preconfigured resource of a network side; and determining, by the terminal device, an HARQ process ID of an HARQ process corresponding to the configured grant configuration according to the target parameter; wherein when the HARQ process is UL transmission, the determining an HARQ process ID of an HARQ process corresponding to the configured grant configuration according to the target parameter comprises: calculating and determining the HARQ process ID of the HARQ process according to a formula of: HARQ process ID = [floor (current transmission time unit/periodicity of configured grant configuration)] % M i + offset;, wherein i is an index number of configured grant configuration, M i is a quantity of HARQ processes configured in an i th configured grant configuration, offset 0 = 0 when i = 0, offset i = ∑ j = 0 i − 1 M j when i > 0, M j represents a quantity of HARQ processes configured in a j th configured grant configuration; wherein when the HARQ process is DL transmission, the determining an HARQ process ID of an HARQ process corresponding to the configured grant configuration according to the target parameter comprises: calculating and determining the HARQ process ID of the HARQ process according to a formula of: HARQ process ID = [floor (current transmission time unit × 10/ (a quantity of slots in a radio frame × periodicity of configured grant configuration))] % M i + offset;, wherein i is an index number of configured grant configuration, M i is a quantity of HARQ processes configured in an i th configured grant configuration, offset 0 = 0 when i = 0, offset i = ∑ j = 0 i − 1 M j when i > 0, M j represents a quantity of HARQ processes configured in a j th configured grant configuration.