Existing multi-hop clustered routing protocols for Intelligent Road Cone Ad-hoc Network （IRCAN） suffer from redundancy in network control overhead and the average number of hops for data packet transmission is not guaranteed to be minimal. To solve the above problems， combined with the link characteristics of the network topology， an efficient clustered routing protocol based on non-random retroverted clustering， called Retroverted-Clustering-based Hierarchy Routing （RCHR）， was proposed. Firstly， the retroverted clustering mechanism based on central extension and the cluster head selection algorithm based on overhearing， cross-layer sharing， and extending the adjacency matrix was proposed. Then， the proposed mechanism and the proposed algorithm were used to generate clusters with retroverted characteristics around sink nodes in sequence， and to select the optimal cluster heads for sink nodes at different directions without additional conditions. Thus， networking control overhead and time were decreased， and the formed network topology was profit for diminishing the average number of hops for data packet transmission. Theoretic analysis validated the effectiveness of the proposed protocol. The simulation experiment results show that compared with Ring-Based Multi-hop Clustering （RBMC） routing protocol and MODified Low Energy Adaptive Clustering Hierarchy （MOD-LEACH） protocol， the networking control overhead and the average number of hops for data packet transmission of the proposed protocol are reduced by 32.7% and 2.6% at least， respectively.