The embodiment of the invention discloses a D2D connection establishment method, device and system, relates to the technical field of communication and is used for solving the problem that in the prior art, D2D connection cannot be accurately and rapidly established between UE (User Equipment). The method comprises the steps that first user equipment (UE) sends a call request message to an accessnetwork device, wherein the call request message comprises a first identity and D2D communication capability information of the first UE, the firs identity is used for indicating second UE paged by the first UE, and the D2D communication capability information of the first UE is used for the access network device to determine whether the first UE and the second UE satisfy a condition of establishing the D2D connection or not; the first UE receives a control signal sent by the access network device, wherein the control signal is used for indicating the first UE and the second UE to establish the D2D connection; and the first UE establishes the D2D connection with the second UE according to the control signal. The method, the device and the system are applied to the establishment of the D2Dconnection.