Provided are a communication method and a terminal device. The communication method includes: sending, by a first terminal device, a first sidelink channel to a second terminal device over a first sidelink, wherein the first sidelink channel comprises first channel occupancy time (COT) sharing information, wherein the first sidelink channel further comprises a first physical sidelink control channel (PSCCH), the first PSCCH comprises first stage sidelink control information (SCI), and time domain resources on which the first COT sharing information and the first stage SCI are located are adjacent, and wherein the first COT sharing information is carried in a first physical sidelink shared channel (PSSCH) of the first sidelink channel