With the increasing development of real-time and multimedia applications, there is a need to provide bandwidth and delay guarantees. Most of QoS ad hoc network routing protocols select path guaranteeing delay and/or bandwidth. However, they don't consider throughput optimization, which results in a low number of admitted real-time and multimedia flows. In this paper, we propose a cross-layer TDMA-based routing protocol to meet delay and bandwidth requirements while optimizing network throughput. Since in TDMA-based ad hoc networks, slot reservation impacts two-hops neighbors, our routing protocol selects paths with the lowest number of neighbors. To show the effectiveness of our protocol, we present simulations using NS-2.