A device-to-device communication method, a device-to-device communication module and a terminal device are provided in embodiment of the present invention. A communication module is set in a first terminal device and includes: a routing support unit configured to generate an identification (ID) of a D2D communication module, discover a neighbor D2D communication module, and maintain routing information between the D2D communication module and the neighbor D2D communication module, where the neighbor D2D communication module is set in a second terminal device; and a point-to-point communication unit configured to communicate with the neighbor D2D communication module according to the ID of the D2D communication module and the routing information maintained by the routing support unit. The problem of achieving D2D communication between terminal devices can be resolved by adopting the technical solutions of the present invention.