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Aiming at all kinds of the shortcomings of existing routing algorithms in WSNs, this paper proposes a delay-constrained routing algorithm based on duty cycle interval optimization is proposed in this paper. Specifically, in the proposed algorithm, firstly, the end-to-end(ETE) delay distribution is estimated as a function of the duty cycle interval and the number of potential forwarders, and its distribution can be approximately estimated under the given network model and parameters. Then, the maximum duty cycle interval that met the delay-constrained Success Ratio (DCSR) requirement is selected. Each node independently schedules its sleep and wake up times, and the sending node forwards the data packet to the node that is woke up first in the potential forwarders. This ensures that the packets arrive at the receiver with the required probability, namely DCSR, and maximizes the duty cycle interval. Simulation results show that the proposed routing algorithm can not only meet the requirements of DSCR, but also outperform the existing advanced algorithms in terms of ETE delay, packet delivery rate and the obtained actually DCSR.