The present disclosure provides an uplink data packet transmission method. The method includes: determining, by a terminal device, a CP length of a first uplink data frame; if the terminal device is in a state of out of uplink synchronization with a base station and in an RRC connected state, or is in an RRC idle state, generating the first uplink data frame for an uplink data packet according to the CP length and sending the first uplink data frame to the base station. The CP length is greater than a CP length of an uplink data frame sent by a terminal device that is in a state of uplink synchronization and in an RRC connected state. Therefore, signaling procedures such as random access and uplink synchronization can be omitted, so that the terminal device can directly send the uplink data packet by performing signaling exchange once.