Systems, methods, apparatuses, and computer program products for sidelink positioning with on-demand reconfiguration of sidelink positioning reference signal. A method may include transmitting or receiving a sidelink positioning reference signal to or from a target user equipment, wherein the target user equipment corresponds to a user equipment to be positioned. The method may further include determining a new sidelink positioning reference signal configuration, or transmitting a sidelink positioning reference signal reconfiguration request message to a network element triggering the network element to initiate the new sidelink positioning reference signal configuration. In addition, the method may include transmitting or receiving one or more new sidelink positioning reference signals according to the new sidelink positioning reference signal configuration.