The present invention provides a D2D communication method and a D2D communication device. The method includes: determining a second time slot for transmitting D2D data according to a first time slot for transmitting D2D signaling to a D2D receiver and a synchronous transmission relationship between the D2D signaling and the D2D data, the second time slot being after the first time slot; determining a third time slot for transmitting uplink control information in cellular communication according to the second time slot, the uplink control information being used for indicating an uplink radio resource in the second time slot, and the third time slot being before the second time slot; demodulating the uplink control information in the third time slot to acquire the uplink radio resource in the second time slot; multiplexing the uplink radio resource in the second time slot to perform D2D communication with the D2D receiver.