This paper presents a new power control routing which is applied to wireless ad hoc networks, because applying power control into routing protocols has become a hot research issue. This work not only reduces network energy consumption and also improve network throughput, Packet Delivery Ratio and other performance of ad hoc networks. We proposed an on-demand routing algorithm based on power control termed as Power Control Ad hoc On-Demand Distance Vector (PC-AODV). This algorithm builds different routing entries according to the node power levels on demand, and selects the minimum power level routing for data delivery. This PC-AODV uses different power control policies to transmit data packets, as well as control packets of network layer and MAC layer. Simulation results show that our algorithm not only reduce the average communication energy consumption, thus prolong the network life time, but also improve average end-to-end delay and packet delivery ratio.