The present disclosure discloses a method, apparatus, device and system for sending device discovery signals. The method includes: acquiring configuration information indicating discovery resources for device discovery; determining discovery resource elements for sending the device discovery signals in a discovery resource period indicated by the configuration information, the discovery resource elements being obtained by dividing radio resources in the discovery resource period in a manner of time division multiplexing and/or frequency division multiplexing; and sending the device discovery signals on the determined discovery resource elements.