Due to their finite battery life, battery-powered sensor devices restrict the performance of Internet of Things (IoT) networks. Thus, while developing routing algorithms for IoT networks based on sensor networks, protecting the power supply of these devices is a key design aim. For IoT networks based on sensor networks, numerous routing strategies have been proposed so far, in which a base station or the nodes themselves choose the paths from the source nodes to the destination. This paper suggests a new routing protocol for battery-powered IoT networks that is energy-efficient and delay-aware. In the proposed protocol, some nodes are able to select the next-hop relay nodes of other nodes. These nodes have a more comprehensive view of the network; thus, they can determine the relay nodes of their neighboring nodes. The proposed routing mechanism selects initial relay nodes for all nodes based on the network topology, then maintains the routing with the lowest energy consumption. The proposed routing protocol is evaluated, which shows this protocol can improve the network performance compared to other related works.