Wireless Sensor Networks (WSNs) are key enablers of efficient communication in the Internet of Things (IoT) ecosystem. These networks comprise numerous sensor nodes that collaboratively collect and transmit data, requiring adaptive and energy-efficient management. However, high node density and resource limitations introduce challenges such as control overhead, packet collisions, interference, and energy inefficiency. To mitigate these issues, this paper adopts the Hybrid Wireless Mesh Protocol (HWMP), standardized under IEEE 802.11s for Wireless Mesh Networks (WMNs), as the routing protocol in WSNs. HWMP’s hybrid design combining reactive and proactive routing is well-suited for dynamic and mobile environments, making it applicable to WSNs operating under similar conditions. Building on this foundation, we propose a community-aware topology control mechanism that constructs a Connected Dominating Set (CDS) to serve as the network’s energy-efficient backbone. Node selection is guided by centrality metrics and detected community structures to enhance routing efficiency and network longevity. The mechanism is evaluated across six mobility scenarios characterized by realistic movement patterns. Comparative results show that incorporating community structure significantly improves routing performance and reduces energy consumption, validating the approach’s effectiveness in real-world WSN deployments.