Wireless Sensor Networks (WSNs) operate in infrastructure-less and dynamically changing environments where node mobility induces frequent topology variations. Such dynamics significantly complicate route discovery and maintenance, making efficient packet routing a critical research challenge. Traditional on-demand routing protocols rely on network-wide flooding during route discovery, which results in excessive control overhead, increased contention, and higher end-to-end delay, particularly in dense and highly mobile scenarios. This paper proposes a novel routing protocol termed Restricted Flooding Dynamic MANET On-Demand (RFDYMO), specifically designed to enhance routing efficiency in dynamic WSN environments. The core innovation of RFDYMO lies in the tight integration of a restricted flooding mechanism with a quadrant-based directional routing strategy. Unlike conventional blind flooding approaches, the proposed restricted flooding algorithm spatially constrains Route Request (RREQ) dissemination to a reduced forwarding region determined by the relative position of the destination node. This significantly decreases redundant transmissions, mitigates broadcast storm effects, and lowers routing overhead. To further refine route discovery, the network area is logically partitioned into quadrants with respect to the source node, and packet propagation is directionally biased toward the quadrant containing the destination. This quadrant-based routing heuristic enables spatial filtering of intermediate forwarding nodes, thereby improving routing convergence speed and reducing unnecessary channel utilization