The IEEE 802.1 Time Sensitive Networking (TSN) task group is devoted to improving deterministic delay during data communication. To schedule traffic in TSN, Asynchronous Traffic Shaping (ATS) has been introduced to guarantee bounded maximum delays without complicated time synchronization, and Urgency Based Scheduler (UBS) becomes the default implementation for ATS. However, due to the traffic fluctuation, UBS cannot achieve best delay bounds if some parameters are not configured appropriately in real time. What is more, UBS needs to consumes excessive butter resources, which prevents TSN from being deployed in real world. To solve these problems, we propose Time Sensitive Queuing (TSQ), a novel ATS mechanism. TSQ lowers the difficulty of TSN deployment by removing the parameter that need to be configured in real time. In addition, to reduce the butter consumption, TSQ applies time-slot-based packet allocation mechanism as the enqueue strategy, and time-slot-based packet polling mechanism as the dequeue strategy, respectively. Our Network Calculus analysis shows that TSQ can provide bounded delays and up to 40% butter resource reduction compared to UBS. The extensive experiments implemented in ns-3 show that TSQ consumes 33% less butter resource compared to UBS.