Hundreds of processor cores or modules are integrated into a single chip. The traditional bus or crossbar is challenged by bandwidth, scalability, and silicon area, and cannot meet the requirements of high end applications. Network-on-chip (NoC) has become a very promising interconnection structure because of its good scalability, predictable interconnect length and delay, high bandwidth, and reusability. However, the most available packet routing NoC may not be the perfect solution for high-end heterogeneous multi-core real-time systems-on-chip (SoC) because of the excessive latency and cache cost overhead. Moreover, circuit switching is limited by the scale, connectivity flexibility, and excessive overhead of fully connected systems. To solve the above problems and to meet the need for low latency, high throughput, and flexibility, this paper proposes PCCNoC (Packet Connected Circuit NoC), a low-latency and low-overhead NoC based on both packet switching (setting-up circuit) and circuit switching (data transmission on circuit), which offers flexible routing and zero overhead of data transmission latency, making it suitable for high-end heterogeneous multi-core real-time SoC at various system scales. Compared with typically available packet switched NoC, our PCCoC sees 242% improved performance and 97% latency reduction while keeping the silicon cost relatively low.