A method for transmitting a device-to-device (D2D) signal for a D2D link at a user equipment (UE) in a wireless communication system includes determining whether or not to transmit the D2D signal using an uplink resource pool assigned for the D2D link to the UE based on a predetermined probability, wherein any uplink resource overlapping with resources for a physical random access channel (PRACH) is excluded from the uplink resource pool, and when it is determined to transmit the D2D signal, selecting a resource randomly from the uplink resource pool, and transmitting the D2D signal using the selected resource to a target UE.