According to the self-adaptive probability forwarding routing protocol of the underwater acoustic sensor network, the greedy progress is maximized, the efficiency of the forwarding set selection method is improved, the result of efficiently forwarding data packets is finally achieved, and it can be seen from the result that the proposed protocol maintains low energy consumption. The method is suitable for a sparse and topology-variable underwater network environment. The method comprises the following steps: firstly, dividing a forwarding region into a forwarding region and a non-forwarding region; compared with existing opportunistic routing transmission, the method has the advantages that waiting time is saved, end-to-end delay is greatly reduced, candidate set node selection is consistent, node selection fairness is guaranteed, an APFP protocol is achieved through NS2, simulation verification is conducted on the APFP protocol, and the method has obvious advantages.