Abstract: This paper proposes an autonomous clustering and efficient transmission protocol for underwater maneuvering target tracking applications in underwater acoustic networks. In the protocol, the network can perceive target features in real time and autonomously establish and update tracking clusters based on node status. The cluster head node aims to minimize the transmission delay of the entire process, with the link transmission requirements and logic as constraints, and establishes the optimal transmission model. The optimal transmission scheme under the current state is obtained through analysis of optimization theory. After that, the cluster head node initiates a reservation, and multiple nodes efficiently and conflict-free aggregate the monitored target information to the fusion node. The protocol does not need time synchronization, and can adjust the transmission strategy independently according to the real-time application scenario and state. The sea test proves that the target can be stably tracked and the network transmission efficiency has also been significantly improved.