The Vehicular Ad-Hoc Networks (VANETs) provide communication services for time-critical road safety applications, general purpose ITS services for traffic efficiency, and non-safety value-added infotainment applications. The challenges of multichannel VANET Medium Access Control (MAC) protocol include successful delivery of time-critical safety messages within 100 ms with high reliability, and high channel utilization for non-safety messages. In this paper, we propose an enhanced TDMA (time division multiple access) Cluster-based MAC (ETCM) protocol which is based on TDMA slot reservation with clustering of vehicles for multichannel vehicular networks, using single radio vehicular transceiver. The major contributions of the proposed ETCM protocol are: i) the enhanced logical frame structure with allocations of two mini-slots for each vehicle in each synchronous interval (in 100ms) to increase collision-free channel access and reliable time-critical safety message deliveries, ii) enhanced bandwidth utilization of service channels with dynamic reallocations of unused slots for vehicular communications with single radio transceiver, and iii) increased fairness among vehicles by balanced slot allocations even at high traffic load conditions. The proposed ETCM protocol has been analyzed with a series of simulations of a cluster with up to 156 vehicles using ns-3 network simulator. The simulation results show that the packet delivery ratio of safety messages was greatly enhanced to 99% delivery in less than 50 ms delivery time, and the aggregated channel throughput (channel utilization) was greatly enhanced from 10Mbps (in TC-MAC) to 25~30 Mbps (in ETCM) at 7 channels (1 control channel and 6 service channels) of 6Mbps for a cluster of 100 vehicles.