The present disclosure relates to sidelink communication methods and apparatus. In one example method, a terminal device sends first information to a network device, where the first information includes a first destination address, a first carrier index, and a first quality of service (QoS) parameter, and there is a correspondence between the first destination address, the first carrier index, and the first QoS parameter. The network device receives the first information from the terminal device. The network device determines sidelink radio bearer (SLRB) configuration information based on the first information, and sends the SLRB configuration information to the terminal device. The terminal device receives the SLRB configuration information from the network device.