The present invention discloses a method for performing sidelink communication in a wireless communication system and a device therefor. Specifically, the method, performed by a first terminal, includes: a process for receiving, from a base station, resource pool allocation information which indicates at least one resource pool from among a plurality of preset resource pools; a process for identifying, in the at least one resource pool, a specific sidelink resource for a second terminal; and a process for transmitting, to the second terminal, a signal for allocating the identified specific sidelink resource, wherein the specific sidelink resource can be allocated for a signal for performing sidelink measurement between the first terminal and the second terminal.