Based on the analysis of the existing classic clustering routing algorithm HEED, this paper proposes an efficient dynamic clustering routing algorithm ED-HEED. In the cluster selection process, in order to optimize the network topology and select more proper nodes as the cluster head, the proposed clustering algorithm considers the shortest path prediction of the node to the destination sink and the congestion situation. In the data transmission procedure, the high-efficiency CEDOR opportunistic routing algorithm is applied into the ED-HEED as the data transmission mode between cluster headers. A novel adaptive dynamic clustering mechanism is also considered into the algorithm, as well as the data redundancy and security control. Our Simulation demonstrates that the ED-HEED algorithm can reduce the energy consumption, prolong the network life and keep the security and availability of the network compared with the HEED algorithm.