We have carried out a study of collective excitations for MoS$_2$/graphene van derWaals heterostructures (vdWHs) using time-dependent density function theory (TDDFT).The resonance absorption spectra of the structures were analysed to determine the polarisation direction in the X-, Y - and Z- axes. We found that the resonance intensities in MoS$_2$/graphene structures were larger than the bilayer graphene structures in high-energy resonance, and the resonance peak of the graphene/MoS$_2$/graphene heterostructure almost annihilated at the low-energyresonance band became broadened at the high-energy resonance band. We studied Fourier-induced charge density of MoS$_2$/graphene structures and found that they have dipole-like characteristics in the low-energy region.