A method of beam failure recovery request (BFRQ) transmission is proposed. In a first step of beam failure detection, UE detects a beam failure condition of the original serving beam. In a second step of new candidate beam identification, UE performs measurements for candidate beam selection. In a third step of beam failure recovery request (BFRQ) transmission, UE transmits a BFRQ message to BS upon the triggering condition for BFRQ transmission is satisfied. In a fourth step of monitoring BS response, UE monitors BS response to decide the success or failure of the BFRQ transmission attempt. In one advantageous aspect, the BFRQ transmission is over dedicated contention-free PRACH or PUCCH resources or over contention-based PRACH resources. Furthermore, a beam failure recovery timer is used to oversee the initiation and the termination of the BFRQ transmission.