A two-hop neighborhood information based routing protocol is proposed for real-time wireless sensor networks. The approach of mapping packet deadline to a velocity is adopted as SPEED; however, our routing decision is made based on the novel 2-hop velocity. Energyefficient probabilistic drop is embedded to enhance energy utilization efficiency while reducing packet deadline miss ratio. In case packet deadline requirement is not stringent, a new mechanism is included to release nodes which are frequently chosen as forwarders. Improvement on energy consumption balance throughout the network is observed. The true characteristics of physical and MAC layers are captured in the simulation. A real lossy link model is drawn from extensive experiments through Mica2 Motes. Simulation results show that the new protocol has achieved lower packet deadline miss ratio and higher energy efficiency.