A time synchronization method, a time synchronization sender, a time synchronization receiver and a time synchronization system are provided. The method includes: determining whether at least one parameter causing recalculation of a best master clock (BMC) algorithm changes; in a case where it is determined that the parameter changes, sending a 1588 standard-based Announce message; and in a case where it is determined that the parameter does not change, sending a keep-alive message of the Announce message. In the present disclosure, by distinguishing keep-alive messages from protocol messages, the problem that a CPU system is busy due to the processing of Announce messages is solved, thereby realizing the optimization of the 1588 protocol, and reducing the impact on the CPU.