Routing protocols in vehicular ad hoc network (VANET) mainly depends on the correct information provided by the neighbor vehicles in the form of beacons. If the on board unit is soft faulty, it provides incorrect data and reduces the performance of the system. In this paper, a novel self soft fault detection based routing protocol is proposed for VANET in city environment to send the data quickly to the destination by detecting the soft faulty vehicles. The vehicle itself detects whether it is soft faulty or fault free by using the decisions made by the neighbor vehicles and exclude itself from the routing process. The data is forwarded through the fault free vehicles in a mostly connected path. The best path is selected at every junction by finding path values for the paths connected to the junction. The path with the minimum path value is selected as the next path through which the data is forwarded. The performance of the fault detection method is evaluated by fault detection rate and false alarm rate. Simulation results show that, proposed protocol performs better than GyTAR, A-STAR, P-GEDIR, and GSR routing protocols in terms of end-to-end delay, number of network gaps, and path length.