Physical resource allocation strategy is a key factor affecting the performance of a mobile ad hoc network (MANET), which serves as a network model widely used in the sensor and detection field. For various perceived service information, it is significant for the allocation strategy to adapt to the dynamic service requirements and prioritize resource access for the service information with high priority to guarantee its real-time performance. In this paper, a novel dynamic time division multiple access (TDMA) scheduling strategy is proposed for MANETs. Firstly, a service priority-based dynamic TDMA scheduling (SP-DS) algorithm is presented, which introduces the service priority as a reference factor for slot allocation and fully considers the transmission throughput and end-to-end delay performance. Moreover, for improving the slot use of the whole system, a modified distributed color constraint heuristic (MD-CCH) scheme is presented to optimize the frame structure. The SP-DS and MD-CCH algorithms are combined to form the novel strategy. Simulation results have demonstrated that the proposed strategy has better performance in the slot use, slot allocation efficiency, end-to-end delay and transmission throughput compared with the existing slot allocation algorithms.