A method by which a terminal transmits an uplink signal in a wireless communication system, according to one embodiment of the present specification, comprises the steps of: receiving configuration information related to the transmission of the uplink signal; and transmitting the uplink signal on the basis of the configuration information. The configuration information includes a transmission configuration indicator state (TCI state). The uplink signal is transmitted on the basis of a specific panel and/or a specific spatial domain filter, according to the TCI state in which the panel ID and/or the reference RS is not configured.