In order to effectively manage the communication nodes in Mobile Ad Hoc Network (MANET), it is important to know the topology of such networks. Traditional Ad-hoc On-demand Distance Vector (AODV) protocol can not get the MANET topology due to the lack of the topology discovery mechanism. Aiming at this problem, an enhanced topology discovery algorithm based on AODV (AODV-TD) is proposed. AODV-TD can not only obtain the topology of dynamic network by topology discovery request, but also realize route discovery among nodes. Finally, the proposed algorithm is implemented on a hardware platform using CC1100, and the experiment results show that, even the network changes dynamically, AODV-TD can still discover the network topology rapidly and accurately, so that contribute to reducing the route discovery time and the RREQ forwarding packets.