One embodiment of the present invention discloses a method for transmitting a control signal for device-to-device (D2D) communication with a second terminal by a first terminal in a wireless communication system, wherein the method is carried out by the first terminal and comprises the steps of: mapping control information for the D2D communication to a resource region for the D2D communication; and transmitting, to the second terminal, the mapped control information for the D2D communication with data for the D2D communication, wherein the control information for the D2D communication includes modulation and coding scheme (MCS) related information and hybrid automatic retransmission request (HARQ) related information, and the control information for the D2D communication can be mapped to at least one symbol except for symbol(s) to which a reference signal is mapped.