The embodiments of the present disclosure provide a resource selection method and a terminal. The resource selection method includes determining a target transmission resource of a to-be-transmitted data packet, where the target transmission resource is selected from one of the following: a periodically reserved transmission resource obtained according to a sensing result of a first sensing window; a transmission resource obtained according to a sensing result of a second sensing window, where a start time of the second sensing window is or later than an arrival time of the data packet; and a randomly selected transmission resource.