The present invention relates to a beam-based multi-connection communication method, a terminal device, and a network device. The method may include the following: Based on a multi-beam connection established between a terminal and a base station, the terminal further selects a dedicated message beam from a common message range of the base station based on a measurement result of an uplink pilot, or the base station selects a dedicated message beam from a common message range of the base station based on a measurement result of a downlink pilot; and the terminal or the base station chooses to delete at least one established beam connection. By selecting and deleting a multi-beam connection between the terminal and the base station, a high-quality beam connection is maintained, and interruption of data transmission between the base station and terminal is avoided, thereby ensuring normal communication between the base station and the UE.