A method for random access, comprising: under a condition that a first terminal device fails in a random access procedure, determining , by the first terminal device, according to a condition for initiating the random access procedure, at least one parameter corresponding to the condition for initiating the random access procedure, wherein the at least one parameter comprises a first threshold corresponding to the condition for initiating the random access procedure, and the first threshold is used to indicate first maximum waiting time before the first terminal device re-initiates the random access procedure triggered by the condition; receiving, by the first terminal device, a backoff indication parameter from a network device, wherein maximum waiting time before at least one terminal device re-initiates a random access procedure is indicated by the backoff indication parameter, and the at least one terminal device comprises the first terminal device; responsive to that the maximum waiting time indicated by the backoff indication parameter is greater than or equal to a duration corresponding to the first threshold, randomly determining, by the first terminal device, backoff time within the duration corresponding to the first threshold; responsive to that the maximum waiting time indicated by the backoff indication parameter is less than the duration corresponding to the first threshold, randomly determining, by the first terminal device, backoff time within the maximum waiting time indicated by the backoff indication parameter; and re-initiating , by the first terminal device, the random access procedure according to the backoff time. under a condition that a first terminal device fails in a random access procedure, determining , by the first terminal device, according to a condition for initiating the random access procedure, at least one parameter corresponding to the condition for initiating the random access procedure, wherein the at least one parameter comprises a first threshold corresponding to the condition for initiating the random access procedure, and the first threshold is used to indicate first maximum waiting time before the first terminal device re-initiates the random access procedure triggered by the condition; receiving, by the first terminal device, a backoff indication parameter from a network device, wherein maximum waiting time before at least one terminal device re-initiates a random access procedure is indicated by the backoff indication parameter, and the at least one terminal device comprises the first terminal device; responsive to that the maximum waiting time indicated by the backoff indication parameter is greater than or equal to a duration corresponding to the first threshold, randomly determining, by the first terminal device, backoff time within the duration corresponding to the first threshold; responsive to that the maximum waiting time indicated by the backoff indication parameter is less than the duration corresponding to the first threshold, randomly determining, by the first terminal device, backoff time within the maximum waiting time indicated by the backoff indication parameter; and re-initiating , by the first terminal device, the random access procedure according to the backoff time. <EOS>