Embodiments of the present application relate to a method, terminal device, and network device for transmitting sidelink data. The method includes: receiving, by a first terminal device, sidelink transmission resource indication information and first
uplink transmission resource indication information configured by a network device, where the sidelink transmission resource indication information is used for indicating a sidelink transmission resource, and the first
uplink transmission resource indication information is used for indicating a first
uplink transmission resource; transmitting, by the first terminal device, sidelink data to at least one second terminal device on the sidelink transmission resource; transmitting, by the first terminal device, the first feedback information to the network device, where the first feedback information is used for indicating whether the sidelink data has been received correctly.