This application provides an asynchronous uplink transmission method, a device, and a storage medium. The method includes: receiving, by a UE, configuration information that is of a first physical uplink shared channel (PUSCH) and that is sent by a network device, where the configuration information includes a length of a cyclic prefix (CP) of the first PUSCH, and the length of the CP of the first PUSCH is less than a length of a CP of a first random access preamble; determining, by the UE based on the length of the CP of the first PUSCH, a difference between a largest stored timing advance (TA) and a smallest stored TA, and a largest delay spread, whether to send the first PUSCH; and responsive to determining to send the first PUSCH, sending, by the UE, the first PUSCH based on the configuration information of the first PUSCH.