A random access method, including: determining, by a terminal, that a transmission of an uplink control information overlaps with a transmission of a Msg.A on a physical uplink shared channel (PUSCH); judging whether to allow the transmission of the uplink control information to be multiplexed in the PUSCH; in response to allowing the transmission of the uplink control information to be multiplexed in the PUSCH, multiplexing the transmission of the uplink control information in the PUSCH; and in response to not allowing the transmission of the uplink control information to be multiplexed in the PUSCH, transmitting the uplink control information on a physical uplink control channel (PUCCH).