A detection method of a pixel circuit, a display panel and a driving method thereof are provided. The detection method includes: during a reference charging period, applying a reference data voltage to a gate electrode of a driving transistor, and at a first time duration after applying the reference data voltage, obtaining a benchmark voltage from a sensing line; and during a data charging period, applying a detection data voltage different from the reference data voltage to the gate electrode of the driving transistor, and at the first time duration after applying the detection data voltage, obtaining an initial sensing voltage from the sensing line. A sensing voltage of the pixel circuit is obtained based on at least the benchmark voltage and the initial sensing voltage, and a threshold voltage of the driving transistor is obtained based on the sensing voltage.