This application provides an uplink acknowledgement information transmission method, the method includes: A terminal device may obtain a plurality of first HARQ-ACK codebooks, where each of the plurality of first HARQ-ACK codebooks includes HARQ-ACK information of at least one downlink data channel, each first HARQ-ACK codebook corresponds to one first radio network temporary identifier RNTI, and first RNTIs corresponding to the first HARQ-ACK codebooks are different. Then, the terminal device may send a physical uplink channel to a network device, where the physical uplink channel carries a second HARQ-ACK codebook, the second HARQ-ACK codebook includes at least one of the plurality of first HARQ-ACK codebooks that are concatenated in a preset order, and the preset order is determined based on a plurality of first RNTIs corresponding to the plurality of first HARQ-ACK codebooks.