DV-Hop algorithm uses the hop number multiplied by the average distance per hop to estimate the distance between nodes and the trilateral measurement or the maximum likelihood to estimate the node coordinate information, which has defects and then causing too many positioning errors. This paper presented an improved DV-Hop algorithm based on node density regional division (Density Zoning DV-Hop, DZDV-Hop), which used the connectivity of network and the node density to limit the hop number of the estimated node coordinate information and the weighted centroid method to estimate the positioning coordinates. Compared with the traditional DV-Hop algorithm in the same network hardware and topology environment, the result of Matlab simulation test shows that, the communication amount of nodes can be effectively reduced and the positioning error rate can be reduced by 13.6% by using the improved algorithm, which can improve the positioning accuracy.