Disclosed are a signal sending method, a priority configuration method, and a device. The signal sending method includes: determining that S signals overlap in time domain; determining M signals in the S signals based on a maximum transmit power of a terminal device and priorities of the S signals, where the S signals include n sidelink signals and k uplink signals, n is a positive integer, k is an integer greater than or equal to 0, a total transmit power of the M signals is less than or equal to the maximum transmit power, and M is a positive integer; and sending the M signals. In embodiments of this application, a plurality of sidelink signals may be simultaneously sent, or a sidelink signal and an uplink signal may be simultaneously sent, thereby resolving a problem that currently a sidelink signal and an uplink signal cannot be simultaneously sent.