Disclosed is a method by which a terminal sets a resource pool for device-to-device communication in a wireless communication system. Particularly, the method comprises the steps of: acquiring information on a scheduling assignment (SA) resource pool through a synchronization step with a specific terminal; detecting a resource allocation SA in the SA resource pool; receiving a first D2D data channel including a resource pool allocation message on the basis of the resource allocation SA; and setting a resource pool for a second D2D data channel including user data and/or a resource pool for a discovery signal, according to the resource pool allocation message.