SummaryDuty‐cycle at the media access control (MAC) layer plays a key role in energy savings and network lifetime extension. It consists in putting a node's radio in the sleep state as soon as it has no communication activity. Traditional wireless sensor network MAC protocols are designed with short duty‐cycles at the cost of long delays. Careful design is required for joint energy‐delay constrained applications, where the optimal parameters should be thoroughly derived. The present paper deals with this issue and mathematically derives optimal values of key MAC parameters under low data rate applications for 3 well‐known duty‐cycled MAC protocols, WiseMAC, SCP‐MAC, and LMAC as representatives of 3 MAC protocol categories, respectively, preamble‐sampling, slotted contention‐based, and frame‐based. The analysis provides also the optimum traffic sampling rate that guarantees the minimum energy consumption. It shows the role of these parameters in achieving the targeted end‐to‐end delay constraints under network models with uniform traffic generation, for ring and grid topologies. As a second contribution, the model is extended to nonuniform traffic scenarios, where a certain percentage of deployed nodes are relays whose role is to balance traffic forwarding and save the overall network energy. The results reveal that different optimal internal MAC parameters and traffic generation rates can be found for different configurations of relay nodes deployment, which achieve minimal network energy consumption while satisfying the application required end‐to‐end delay threshold.