Disclosed are a method for wireless communication, and a terminal device and a base station therefor. One example method includes: determining, by a terminal device, a first base station; and transmitting, by the terminal device, a first message to the first base station, wherein the first message includes first information, the first information being associated with a first XR service; wherein the terminal device is configured with a master cell group and a secondary cell group; the first base station is a master base station corresponding to the master cell group; and/or the first base station is a secondary base station corresponding to the secondary cell group.