A method by which a terminal performs a beam failure recovery (BFR) procedure in a wireless communication system, according to one embodiment of the present specification, comprises the steps of: receiving setting information related to a physical uplink control channel (PUCCH); transmitting the PUCCH on the basis of the setting information, the PUCCH being related to BFR of at least one secondary cell (SCell); and transmitting a message comprising information related to the BFR. The message comprising the information related to the BFR is related to a beam failure detected before a specific time point.