The emergence of Wireless Sensor Networks (WSNs) attracts attention of the research communities since they cover several domains of Internet of things (IoT). The resourceconstrained sensors and the limited number of communication channels create challenges especially in collision and access conflicts. In order to bring appropriate solutions to these problems, different centralized and distributed approaches have been proposed in the literature. The major problem of centralized techniques is the central point of failure. To this end, this paper proposes a distributed TDMA scheduling algorithm. The proposed solution considers routing information to reduce the messages complexity, minimize communication latency and the schedule length. The experiment results show better performance, in comparison to referenced distributed channel allocation approaches. The latency is improved by 8%, the schedule length and the messages complexity are reduced by 24% and 22% respectively.