Different schemes have been proposed for increasing network lifetime in mobile ad hoc networks (MANETs) where nodes move uncertainly in any direction. Mobility awareness and energy efficiency are two inescapable optimization problems in such networks. Clustering is an important technique to improve scalability and network lifetime, as it relies on grouping mobile nodes into logical subgroups, called clusters, to facilitate network management. One of the challenging issues in this domain is to design a real-time routing protocol that efficiently prolongs the network lifetime in MANET. In this paper, a novel fuzzy-based Q-learning approach for mobility-aware energy-efficient clustering (FQMEC) is proposed that relies on deciding the behavioral pattern of the nodes based on their stability and residual energy. Also, Chebyshev’s inequality principle is applied to get node connectivity for load balancing by taking history from the monitoring phase to increase the learning accuracy. Extensive simulations are performed using the NS-2 network simulator, and the proposed scheme is compared with reinforcement learning (RL). The obtained results show the effectiveness of the proposed protocol regarding network lifetime, packet delivery ratio, average end-to-end delay, and energy consumption.