In device-to-device (D2D) environments where a number of wireless nodes are connected in ad hoc mode, the most popular mechanism for multiple access control is CSMA/CA as in IEEE 802.11 networks. Consequently, a considerable number of hidden terminals can be found in large-scale and dense D2D networks, and usually they may cause severe performance problems. Previous studies to improve the hidden terminal problem in dense wireless networks have suggested various solutions: e.g., channel assignment, transmit power control, and grouping schemes. In this paper, we adopt a different approach—a hidden terminal aware clustering mechanism, which detects the hidden terminals and enables the nodes to form clusters based on the detected information. A simple polling-based channel access scheme is also proposed such that all nodes belonging to a same cluster can access channel through their neighbors’ polling, which eliminates the hidden terminal problem. Mathematical analysis and simulations show that our proposed scheme significantly improves the performance of large-scale D2D networks.