Todays, wireless networks urge to provide communication in most delay reduced manner. This paper aims to propose a routing protocol ACO-DARP, which is more aware about the delay. Route optimization is performed using the ant colony optimization approach. Ant Colony Optimization based Delay Aware Routing Protocol (ACO-DARP) inherits the features of AOMDV routing protocol. Performance metrics such as throughput, packet drop, delay time, and memory are taken into account for comparing the proposed routing protocol ACO-DARP with Fast Time-Dependent Shortest Path protocol (FTSP). Simulations are carried out using NS2 simulator and the results shows that the proposed routing protocol ACO-DARP achieves better performance.