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The first step is to use different styling for the telepathic parts, as suggested in the answer by Evil Sparrow.  I recommend against using italics because italics are often used for inner dialogue (thoughts).

But it's not just styling; go deeper.  Telepathy is a different *kind* of communication, so think about how it works in your setting.  It's probably *not* just the same sequence of words that the characters would otherwise speak.  Telepathy, being mental, could bring along other mental data -- mood, images, other senses. 

> "It won't take too much time. He will be here any moment now." said Tim.

> <SWAT, incoming> Tim's pulse quickened, throbbing in Matthew's mind.  He glanced down the empty street and mind-saw the van.

> "Really!? Thank God. I was getting nervous." said Matthew.