The present invention relates to a method for transmitting, by a terminal, a signal in a wireless communication system and an apparatus therefor. More particularly, the method comprises: a step of receiving a resource pool setting indicating a plurality of resource groups for transmitting and receiving, by a terminal, a signal from a first base station; and a step of transmitting a message by using a specific resource unit within a specific resource group among the plurality of resource groups according to the resource pool setting, depending on dynamic resource allocation information, wherein each of the plurality of resource groups is configured by successively allocating M resource units (where M is a natural number, M>0), in which each of the resource units is set for one of an uplink, a downlink, or a sidelink, and wherein the dynamic resource allocation information indicates that the message is to be transmitted through an N-th resource unit among the resource units within the specific resource group (where N is a natural number, M≥N>0).