This paper presents a coordinator-based energy-efficient dynamic routing mechanism for the Internet of Things (IoT) for efficient energy utilization of IoT sensors. In state-of-the-art approaches, while joining a sensor node, numerous control messages are transmitted over the network, creating massive traffic in the network, and thereby degrading the performance of the entire network. The proposed scheme reduces network traffic and energy consumption by lowering control message transmission between the nodes and the processing overhead in the sensor nodes. The coordinator nodes are responsible for handling control messages to maintain a Destination-Oriented Directed Acyclic Graphs (DODAG) and data messages for upward transmission. Additionally, a dynamic selection mechanism of parent and coordinator has been introduced to maintain the network’s lifetime. Numerical results show the improvement of the proposed scheme over the existing approaches in terms of packet delivery ratio (≈≈≈≈3.6×≈2.25×≈ 4–12% enhancement), end-to-end latency (≈≈≈≈3.6×≈2.25×≈ 19.75–82.5% lesser), energy consumption (≈≈≈≈3.6×≈2.25×≈ 50% lower), and throughput (improvement ≈≈≈≈3.6×≈2.25×≈ for small network and ≈≈≈≈3.6×≈2.25×≈ for large network). Moreover, the proposed approach reduces control plane messages ≈≈≈≈3.6×≈2.25×≈ 11–16% with respect to the state-of-the-art approaches.