To reduce the energy consumption of the routing protocol, we propose a stability-considered density-adaptive routing protocol with fuzzy logic control (SDRFLC) to improve the stability-considered density-adaptive routing protocol (SDR). In the initial stage, the proposed method determines whether a relay node is needed in accordance with the distance between source and destination nodes. If the relay node is required, then density is calculated. On the basis of this density, the best routing mode is selected. In the newest sparse mode (S-mode), the SDRFLC uses the stability and density values as the input of fuzzy logic control. Then, the output value is used to adjust the angle and solve the local maximum problem. Our proposed method is superior to the SDR in terms of the transmission ratio and routing overhead. With higher stability, our proposed method can effectively control the route requirement of sensor nodes (SNs)and prolong the life of mobile wireless sensor networks (MWSNs).