Currently, IEEE 802.11 standard for ad-hoc wireless mode is inadequate for multi-hop network. Recent efforts for the advancement of 802.11 standards, such as 11e for QoS support and 11n for high data rates (> 100 Mbps), are still limited as they are dependent on the wired infrastructure backbone and single-hop wireless communication. One major challenge in quality-of-service (QoS) oriented routing in wireless ad-hoc networks is to find a route that satisfies multiple constraints including energy consumption minimization, delay, node failure and throughput maximization. In this paper, we propose a novel Dynamic Energy Efficient Routing (DEER) protocol that guarantees message delivery, maximum network lifetime and message flow. DEER uses those specific nodes on the fly which has maximum residual energy above a defined energy level for relaying message from a source to a destination. Our proposed approach has been evaluated using realistic channel model and it demonstrates improved session lifetime and efficient data flow compared to Probabilistic Energy Profile, Efficient Hop Count Routing, Dijkstra and Random/opportunistic algorithms. In addition, DEER can lend itself easily to battery-based sensor networks or energy-harvested based sensor networks.