According to some related characteristics of wireless multimedia sensor network, based on the research of SPEED protocol, a kind of real-time routing protocol with QoS guarantee (SPEED-RR) is improved and designed, which is mainly used to make an effective compromise between real-time performance and energy cost to ensure the real-time performance of QoS. In the process of routing discovery, this protocol takes full account of the residual energy of two-hop neighbor nodes, and avoids the occurrence of "routing void" and "rate void". At the same time, for different services, we adopt a control method based on the node sending and receiving data rate and cache queue length to distinguish congestion control. In order to make the protocol better applicable in the system, we need to explore the real-time transmission and energy characteristics of data and propose a better routing mechanism to improve the performance of these two aspects. In this paper, NS-2 simulation platform is selected to simulate and analyze the improved protocol. Experimental results show that the proposed SPEED-RR protocol can effectively reduce energy consumption, reduce transmission delay, and prolong the network life time.