The invention discloses a sensor network real-time routing method based on data-driven link estimation, which comprise the following steps of: 1, perceiving geographical position information by a current node, and informing the geographical position information of a neighbor node; 2, when data are sent, generating a data message and a destination node, and when the data message is forwarded, acquiring the data message and the destination node from a media access control (MAC) layer; 3, calculating the distance from the current node to the destination node; 4, calculating the distance from the current node to the destination node in a neighbor set to generate a hopping candidate set; 5, calculating path speed from the current node to the node in the hopping candidate set; 6, selecting one node as a hopping node; 7, writing a node clock value into a data frame of the MAC layer; 8, sending the data message to the MAC layer; and 9, updating the hop delay, delivery rate and energy consumption of the corresponding nodes in the neighbor set. By the method, the real time of the transmission of network data is improved, and the energy consumption of the network is reduced.