This application provides a communication method, a terminal device, and a network device. The method includes: using, by a terminal device, a first receive parameter to receive control information sent by a network device, where the control information is used to indicate a second receive parameter used by the terminal device to receive a to-be-transmitted signal; determining, by the terminal device based on a first antenna panel to which the first receive parameter belongs and a second antenna panel to which the second receive parameter belongs, a beam switching time required for switching from the first receive parameter to the second receive parameter; and receiving, by the terminal device, the to-be-transmitted signal based on the beam switching time.