The present application discloses a method for early warning of vehicle collision, an on-board terminal and a server. The method includes: acquiring distance-sensing data detected by sensors configured in the first vehicle as first distance-sensing data; determining whether there is an obstacle within an early warning range of the first vehicle based on the first distance-sensing data; acquiring distance-sensing data transmitted by on-board terminals of other vehicles within a communication range of the first vehicle as second distance-sensing data when it is determined that there is an obstacle in the early warning range of the first vehicle; determining whether the obstacle is a vehicle based on a matching result of the first distance-sensing data and the second distance-sensing data; outputting a first early warning information when it is determined that the obstacle is a vehicle.