The invention relates to the technical field of vehicles, and provides an in-vehicle signal transmission method and a system thereof, which are used for realizing the process that a signal sending end in a vehicle transmits a message to a signal receiving end in the vehicle through a gateway. The method comprises the following steps: at the signal sending end, obtaining and dividing a message to be sent into a plurality of signal groups, determining safety verification related parameters corresponding to at least one signal group needing to be subjected to end-to-end protection, writing the determined safety verification related parameters into the corresponding signal group, generating a message in a first format for all signal groups, and sending the message to the gateway; at the gateway, splitting the message in the first format into a plurality of messages in a second format corresponding to each signal group by taking the signal group as a unit, and sending the messages in the second format to a signal receiving end; at a signal receiving end, verifying the message in the second format with the safety verification related parameters so as to complete signal transmission. According to the invention, the transmission speed of signals in the vehicle can be improved, and the hardware requirement of the gateway is reduced.