An Internet of Things data transmission method includes sending, by a terminal device, a first data request to a server, and continuously receiving, by the terminal device, N data packets from the server. The first data request instructs the server to continuously send a plurality of data packets. The first data request includes a quantity N of data packets, that the terminal device is capable of continuously receiving, and a time interval for sending two consecutive data packets, where N is an integer greater than 1. The N data packets include at least one non-confirmable Constrained Application Protocol (NON) data packet, a sending time interval between two consecutive data packets in the N data packets and the at least one NON data packet indicates that sending a receiving response from the terminal device to the server is unnecessary.