Flying Ad-hoc Network (FANET) is a type of Adhoc network on backbone of Unmanned Aerial Vehicle (UAV). These networks are used for providing communication services in case of natural disasters. Dynamic changes in link quality and mobility distort the Quality of Service (QoS) for routing in FANETs. This work proposed a Multi Criteria QoS Optimal Routing (MCQOR) guided by prediction of link quality and three-dimensional (3D) movement of FANET nodes. The network is clustered based on prediction of movement of nodes. Over the clustered topology, routing path is selected in reactive manner with joint optimization of packet delivery ratio, delay, and network overhead. In addition, cross layer feedback is used to reduce the packet generation rate and congestion in network.Through simulation analysis, the proposed routing protocol is found to have 3.8% higher packet delivery ratio, 26% lower delay and 14% lower network overhead compared to existing works.