A measurement method for a terminal device, wherein the method comprises: determining N first beam reference quality values, wherein the N first beam reference quality values respectively correspond to N beams, and N is a positive integer greater than 1; selecting P beams from the N beams based on the N first beam reference quality values, wherein P is a positive integer greater than or equal to 1 and less than or equal to N, the N beams belongs to one or more cells and the P beams belong to a serving cell of the terminal device, wherein the first beam reference quality value of each of the selected P beams is greater than a preset threshold; sending a first beam tracking message to a network-side device, wherein the first beam tracking message indicates the selected P beams to the network-side device which provides a service for the terminal device, wherein the first beam tracking message comprises indexes of the selected P beams, wherein an order of the indexes of the selected P beams comprised in the first beam tracking message is determined by the first beam reference quality value of each of the selected P beams, and wherein the first beam tracking message is a Media Access Control, MAC, layer message; determining (108, 111), based on the N first beam reference quality values and the cell to which each of the N beams belongs, a largest value among first beam reference quality values of each of the one or more cells or an average value of at least two largest values among first beam reference quality values of each of the one or more cells; determining (109, 112) a second beam reference quality value of each of the one or more cells based on the largest value of the each cell or the average value of the each cell; sending (110, 113) a radio resource control, RRC, layer message comprising the second beam reference quality value of each of the one or more cells, to the network-side device. determining N first beam reference quality values, wherein the N first beam reference quality values respectively correspond to N beams, and N is a positive integer greater than 1; selecting P beams from the N beams based on the N first beam reference quality values, wherein P is a positive integer greater than or equal to 1 and less than or equal to N, the N beams belongs to one or more cells and the P beams belong to a serving cell of the terminal device, wherein the first beam reference quality value of each of the selected P beams is greater than a preset threshold; sending a first beam tracking message to a network-side device, wherein the first beam tracking message indicates the selected P beams to the network-side device which provides a service for the terminal device, wherein the first beam tracking message comprises indexes of the selected P beams, wherein an order of the indexes of the selected P beams comprised in the first beam tracking message is determined by the first beam reference quality value of each of the selected P beams, and wherein the first beam tracking message is a Media Access Control, MAC, layer message; determining (108, 111), based on the N first beam reference quality values and the cell to which each of the N beams belongs, a largest value among first beam reference quality values of each of the one or more cells or an average value of at least two largest values among first beam reference quality values of each of the one or more cells; determining (109, 112) a second beam reference quality value of each of the one or more cells based on the largest value of the each cell or the average value of the each cell; sending (110, 113) a radio resource control, RRC, layer message comprising the second beam reference quality value of each of the one or more cells, to the network-side device.