We proposed a cross-layer QoS routing algorithm which is metric-based cooperative relay initiative forwarding(MCRICQR). Nodes form a metric according to energy, channel, congestion and distance to sink. The node with maximal metric forwards or relays or leapfrogs the data in term of it's own states. Simulation results show that MCRICQR can prolong the lifetime of network and guarantee the required QoS. It also can transmit data in time and load balance which improve the reliability and energy efficiency and throughput of WSN(wireless sensor network).