In mobile ad-hoc networks (MANETs), nodes are mobility naturally which renders a great challenge in topology controls. Connected dominating set (CDS) has been considered as an efficient solution to solve such a problem by constructing a virtual backbone network to achieve the scalability and efficiency of wireless networks. In this paper, we propose an efficient connected dominating set clustering based routing protocol with dynamic channel selection (CRD) in multi-channel cognitive radio MANETs to obtain high packet delivery ratio (PDR), low control overheads, low delay and low energy consumption when node is moving in high speed. Moreover, CRD protocol can apply for Vehicular Ad Hoc Network, IoT and 5G. The proposed CRD protocol includes clustering and routing phases under multi-channel cognitive radio approach. In the clustering phase, we propose CDS selection, CDS size reduction and CDS based clustering algorithms to formulate clusters and provide a set of intermediate nodes which is latter used as a route searching space for the routing phase. In the routing phase, a sending channel based focus region selection (CFS) algorithm is adopted dynamically to establish an efficient route from a set of intermediate nodes that avoids the affected region of a primary user. The CRD routing protocol is then implemented in environmental conditions close to reality (OMNET++ platform) to demonstrate its superiority over the conventional AODV protocol in terms of PDR, control overhead, delay and energy consumption.