The invention provides a wireless sensor network routing method with high robustness and low delay. The wireless sensor network routing method comprises several stages of network initialization, period detection, path discovery and data forwarding, and comprises the following steps: sending an initialization packet by a base station, receiving the initialization packet by a node, establishing a neighbor node set, and periodically broadcasting a detection packet; replying a detection ACK packet by the node after waiting for a random time; updating the neighbor node set; and when data need to be sent, starting the path discovery, finding a fast path leading to a destination node, making response by the destination node after receiving the detection, determining assistance nodes on the way of the path, finally returning acknowledgement to a source node, sending the data by the source node according to a detection result, making decision by each node on the way according to the detected information and delay information, and finally sending the data to the destination node. According to the method, the average end-to-end delay is shortened by the reliable path discovery, the robustness is improved on the basis of ensuring the delay by using all kinds of fault-tolerant mechanisms, and no synchronization is required, therefore the synchronization cost is reduced.