The present invention relates to a method for enabling a D2D communicating terminal to transmit and receive a signal in a radio communication system, and an apparatus therefor. Specifically, the method includes the step of transmitting and receiving a signal by using a frame with a given length of CP (Cyclic Prefix), wherein the given length of CP is set to one of a first length of CP and a second length of CP, the first length of CP is the CP length set for communication between a base station and a terminal, and the second length of CP is the CP length set for communication between two terminals.