Disclosed is a method of performing random access by a User Equipment (UE) in a wireless communication system. The method includes generating at least two random access signals with their own priorities, and transmitting the at least two random access signals with their own priorities. The random access method may include transmitting at least two random access signals to at least two target communication nodes. Further, the random access method may include transmitting at least one random access signal, and selecting at least one of at least two random access response signals received in response to the at least one random access signal and performing random access control by using the selected random access response signals.