Disclosed are a method for performing a random access procedure between a terminal and a base station in a wireless communication system and a device supporting the same. More particularly, the present invention provides a description of a method for performing a random access procedure between a terminal and a base station in a wireless communication system capable of transmission or reception of a signal through a plurality of beams. The terminal is capable of communicating with at least one of another terminal, a terminal related to an autonomous driving vehicle, the base station or a network.