Transmission Control Protocol (TCP) used multiple paths for performing transmission of data simultaneously to improve its performance. However, previous TCP protocols in Internet of Things (IoT) networks experienced difficulty to transmit a greater number of subflows. To overcome the above issues, we introduced cross-layer framework to perform efficient packet scheduling and congestion control for increasing the performance of TCP in IoT networks. Initially, the proposed IoT network is constructed based on grid topology using Manhattan distance which improves the scalability and flexibility of the network. After network construction, packet scheduling is performed by considering numerous parameters such as bandwidth, delay, buffer rate, etc., using fitness based proportional fair (FPF) scheduling algorithm and selecting best subflow to reduce the transmission delay. The scheduled subflow is sent over an optimal path to improve the throughput and goodput. After packet scheduling, congestion control in TCP is performed using cooperative constraint approximation 3 + (CoCoA3 + -TCP) algorithm in which three stages are employed namely congestion detection, fast retransmission, and recovery. The congestion detection in TCP-IoT environment is performed by considering several parameters in which cat and mouse-based optimization (CMO) is utilized to adaptively estimate retransmission timeout (RTO) for reducing the delay and improving the convergence during retransmission. Fast retransmission and recovery are performed to improve the network performance by adjusting the congestion window size thereby avoiding congestion. The simulation of cross-layer approach is carried out using network simulator (NS-3.26) and the simulation results show that the proposed work outperforms high TCP performance in terms of throughput, goodput, packet loss, and transmission delay, jitter, and congestion window size.