A method for a terminal transmitting/receiving a signal with device-to-device (D2D) on the basis of a hybrid automatic repeat and request (HARQ) in a wireless communication system, comprises the steps of: receiving allocation information for establishing a wireless resource for a specific HARQ process from at least one first HARQ process as a wireless resource for a second HARQ process; and transmitting/receiving the signal with an external terminal by using the wireless resource of the second HARQ process, wherein a soft buffer, which is linked to the second HARQ process, is a reestablished soft buffer that is linked to the at least one HARQ process, in accordance with the allocation information.