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Embodiments of this application disclose a method for detecting a terminal device in an idle state and a related device. The method includes: sending a first system message, where the first system message includes a first field, and the first field is used to indicate the terminal device in the idle state to periodically initiate random access; and receiving a random access request sent by the terminal device in the idle state, so that the terminal device in the idle state enters a connected state. The network device sends, to the terminal device, the first system message that carries the first field, and the terminal device in the idle state may periodically initiate random access to the network device, to connect the terminal device and the network device. The network device learns, in this way, whether a terminal device exists in a current coverage area.