The present application discloses a data acquisition method and apparatus for a driverless vehicle. A specific implementation of the method comprises: selecting a sensor having the highest importance level among at least one sensor of the driverless vehicle as a first sensor and at least one sensor other than the first sensor to forma second sensor set; acquiring a start time of a current time window, and executing the following data processing steps: executing real-time acquiring and storing operations on data packets collected by each sensor among the at least one sensor after the start time of the current time window; determining whether any condition in the following condition group is met; and in response to determining that any condition in the condition group is met, setting the start time of the current time window to the current time, and continuing executing the data processing steps. This implementation realizes synchronized storage of the data packets collected by the at least one sensor of the driverless vehicle.