The clustering based routing protocols enhance the performance and scalability of wireless sensor networks (WSNs). State-of-art routing methods perform clustering and cluster head (CH) based on the scheme of fixed time intervals. Repetitive task of the cluster formation and CH selection at each time interval, regardless of its necessity, leads to routing overhead and consumption of network energy. Along with clustering, efficient route formation is a challenge to WSN routing protocols. In this paper, an attempt is made to overcome these challenges based on dynamic hyper round policy and route optimisation strategy. The selection of CH and cluster formation is mainly performed using three key parameters such as density, distance from base station and residual energy. After the cluster formation, route formation is performed using ant colony optimisation (ACO). The simulation results reveal that the proposed routing protocol shows improved performance in terms of energy efficiency and quality of service.