One of the most important and typical application of wireless sensor networks (WSNs) is target tracking. Although target tracking, can provide benefits for large-scale WSNs and organize them into clusters but tracking a moving target in cluster-based WSNs suffers a boundary problem. The main goal of this paper was to introduce an efficient and novel mobility management protocol namely Target Tracking Based on Virtual Grid (TTBVG), which integrates on-demand dynamic clustering into a cluster- based WSN for target tracking. This protocol converts on-demand dynamic clusters to scalable cluster-based WSNs, by using boundary nodes and facilitates sensors’ collaboration around clusters. In this manner, each sensor node has the probability of becoming a cluster head and apperceives the tradeoff between energy consumption and local sensor collaboration in cluster-based sensor networks. The simulation results of this study demonstrated that the efficiency of the proposed protocol in both one-hop and multi-hop cluster-based sensor networks.