Wireless Sensor Networks (WSNs) is one of the most rapidly growing research domain. This is because of the development of sensor nodes with extremely low cost and the applications of such sensor nodes are ever growing. WSNs are group of sensor nodes with a set of processors and limited memory unit. Reliable routing of packets from sensor nodes to its base station is the most important task for these networks. Also mobility of the nodes is considered to be one major criterion for WSNs. In this paper, a dynamic routing algorithm called the Mobility Assisted Dynamic Routing (MADR) algorithm has been proposed for the mobile wireless sensor networking system, where both the base station and the sensor nodes are in moving condition. The cluster head selection is based on three parameters: the energy efficiency of the sensor nodes, the mobility of the sensor nodes and the accessibility to the neighboring sensor nodes. The concept of cluster head panel is applied additionally to minimize the re-clustering time. The proposed algorithm is compared with an existing algorithm Low Energy Adaptive Clustering Hierarchy (LEACH). The simulation results show an excellent prolongation in overall network lifetime.