The present disclosure relates to a method for transmitting and receiving data performed by a first user equipment (UE) in a wireless communication system that supports a device-to-device (D2D) communication includes receiving control information related to the D2D communication through Radio Resource Control (RRC) signaling from a base station (eNB); receiving resource allocation (RA) information related to a Scheduling Assignment (SA) transmission through a D2D grant from the eNB; transmitting the SA to a second UE based on the received resource allocation information; and transmitting a D2D data to the second UE, wherein the control information includes at least one of an SA resource pool or a D2D data resource pool, and wherein the SA resource pool and the D2D data resource pool are pre-configured by a high layer.