A discovery method for Device-to-Device (D2D) communication is provided. A terminal transmits a discovery service request message for D2D communication including one of application information and group information for a Proximity based Service (ProSe) to a server. The terminal receives, from the server, a discovery service key delivery message including a discovery service key corresponding to the one of the application information and the group information for a ProSe. The terminal acquires the discovery service key by decrypting the discovery service key delivery message, and performs discovery by encrypting a discovery code with the acquired discovery service key.