Device discovery method and device for device-to-device communication and terminal

The invention provides a device discovery method and device for device-to-device communication and a terminal. The device discovery method applicable to the terminal includes: forming a D2D terminal group by the terminal and at least one D2D terminal with preset position relationship, and determining whether the terminal can serve as a proxy terminal of the D2D terminal group or not; when the terminal can serve as the proxy terminal according to determination, the terminal sending discovery information representing the D2D terminal group for the other D2D terminals to discover all the terminals in the D2D terminal group at the same time according to the discovery information when receiving the discovery information . Occupied time-frequency resources in the D2D discovery process are reduced effectively, and D2D discovery efficiency is improved.