Embodiments of the present disclosure provide a wireless communication method, a terminal device, and a network device. The method includes: obtaining configuration information of an uplink gap; and transmitting, based on the configuration information of the uplink gap repeatedly, uplink information on an uplink channel. The uplink gap is used for a terminal device to perform downlink synchronization and frequency offset compensation on the uplink gap, to adapt to a non-geostationary earth orbit (GEO) scenario in a non-terrestrial network (NTN).