The Underwater Acoustic Sensor Networks have gained significant attention because of their wide range of applications in submerged environments. However, ensuring reliable and energy-efficient communication in the submerged environment is challenging due to their distinctive characteristics such as limited energy resources, dynamic topology, extended propagation delays, and node mobility. Additionally, the void hole problem in submerged environments arises due to randomized node deployment. To curtail these issues, this paper introduces a novel way of strategically deploying the nodes based on the underwater depth parameters, which can reduce the likelihood of void hole occurrence. An optimal number of clusters based on the fixed transmission range of cluster heads is used to cater to extensive energy usage. In the proposed routing protocol, the path selection is based on the residual energy, link quality, and proximity to a higher number of nodes. Extensive simulations have been conducted by varying network parameters to analyze the network performance in terms of energy expenditure, packet delivery ratio, network throughput, number of dead nodes, and end-to-end delays. Also, the proposed work provides a performance comparison with some state-of-the-art protocols and exhibits promising results.