Provided are a data retransmission method and device, and a terminal. The method includes: acquiring a radio resource control (RRC) signaling, wherein the RRC signaling at least comprises a first configuration field and a second configuration field; the first configuration field is a configured grant (ConfiguredGrantConfig) field, and the second configuration field is a physical uplink shared channel configuration (PUSCH-config) field; in the case that a base station dynamically schedules the terminal to perform a retransmission of a PUSCH, determining a parameter set for the retransmission according to a configuration parameter comprised in the first configuration field and a configuration parameter comprised in the second configuration field; and performing the retransmission of the PUSCH according to the determined parameter set.