Abstract: To deal with the degradation of wireless sensor network routing efficiency caused by voids, Energy Efficiency Multi-channel Coordination Routing algorithm based on 3D cell space (3D-EEMCR) is presented in this paper. According to the energy consumption model, the algorithm balances residual energy and location information of the nodes to select the cell leader node, so as to balance the energy consumption of network. In addition, the algorithm adopts perimeter routing mode which uses the mutual assistance of the main channel and the assistant channels to route around void areas. The simulation results show that 3D-EEMCR effectively improves the message packet delivery rate, reduces the average energy consumption of the network, and extends the network lifetime in comparison with 3D-GPR (Grid Position-based Routing) and 3D-CSR (Cell Space Routing).