Cross-layer architecture, a new design paradigm in the domain of Mobile Ad hoc Networks (MANET), enables knowledge sharing between layers to provide optimization and better Quality of Service (QoS). This paper proposes a design of cross-layer framework between application and MAC and between MAC and transport layer. The joint optimization between application and MAC enables mapping of video frames based on its priority and network traffic load. The MAC and transport layer are jointly optimized to regulate data rate from transport layer based on congestion information of Access Category (AC) queue. The proposed system is compared with Enhanced Distributed Channel Access (EDCA) and Static Mapping approaches using evaluation criteria, namely Packet Delivery Ratio (PDR), Average End-to-End Delay and Peak Signal-to-Noise Ratio (PSNR). According to the simulation results, it is found that PDR and PSNR of the proposed method are better than that of aforementioned mapping approaches.However, the Average End-to-End Delay is a little bit larger than that of EDCA but less than that of Static approach. Hence, it can be concluded that the proposed method is appropriate for non real-time video streaming applications.