A method for providing bi-directional ultra-wide band (UWB) ranging is provided. The method by a first ultra-wide band (UWB) device includes transmitting an initiation message for initiating UWB ranging, receiving at least one device access message from at least one second UWB device within a contention period, transmitting at least one reply message, receiving at least one device reply message corresponding to the at least one reply message from one or more of the at least one second UWB device, and transmitting, to the one or more second UWB device, a final message based on UWB ranging performed using the device access message, the reply message, and the device reply message.