The present invention relates to a discovery and communication method between UPnP devices. The method comprises the steps of using a control point to send an M-Search multicast request in a network; using the UPnP devices to respond the M-Search multicast request, randomly delaying certain time at response, establishing TCP connection with the control point according to the IP address of the control point and the TCP communication port number information contained in the M-Search multicast request, discovering the needed information to a control point response device via the TCP connection, and using the control point to obtain the device description information of a UPnP device description stage according to the information; using the control point to send the communication messages of a UDP format to the UPnP devices by utilizing the IP addresses of the UPnP devices and a service port, to thereby realize the communication of the control point to the UPnP devices; using the UPnP devices to obtain the IP address of the control point, and using the UPnP devices to return the next-step operation commands to the control point by utilizing the IP address, to thereby realize the communication initiated by the UPnP devices to the control point.