Wireless sensor network with mobility is rapidly evolving and increasing in the recent decade. The cluster and hierarchical routing strategy demonstrates major changes in the lifespan of the network and the scalability. The latency, average energy consumption, packet distribution ratio is highly impacted due to a lack of coordination between cluster head and extreme mobile network nodes. Overall efficiency of highly mobile wireless sensor network is reduced by current techniques such as mobilityconscious media access control, sleep/wakeup scheduling and transmission of real-time services in wireless sensor network. This paper proposes a novel Priority-Mobility Aware Clustering Routing algorithm (p-MACRON) for high delivery of packets by assigning fair weightage to each and every packet of node. To automatically decide the scheduling policy, reinforcement learning approach is integrated. The mixed approach of priority and selflearning results into better utilization of energy. The experimental result shows comparisons of slotted sense multiple access protocol, AODV, MEMAC and P-MACRON, in which proposed algorithm delivered better results in terms of interval, packet size and simulation time.