A synchronization method performed by a first communication node may include: receiving, from a second communication node of the communication system, a first synchronization information signal including information on a first synchronization reference time and information on a first offset; identifying information on a first time at which the first synchronization information signal is transmitted and information on a target synchronization time configured by the second communication node, based on the information included in the first synchronization information signal; setting a synchronization timer based on the information on the first offset; and when the synchronization timer expires, determining that time synchronization with the second communication node is acquired.