Vehicular Ad Hoc Networks (VANETs) and Opportunistic Networks (OppNets) face significant challenges due to dynamic topologies, intermittent connectivity, and constrained resources. Effective routing protocols are critical to ensuring reliable and efficient communication in such networks. This paper proposes the Fuzzy Control Routing Protocol (FCRP), which is a Fuzzy Logic (FL) based routing mechanism designed to address these challenges. In this paper, we newly define buffer occupancy parameter, expressed as the ratio of a message size to the free space in the buffer. This parameter combined with angle to the destination and the number of unique connections, enhances the protocol’s ability to make resource-efficient routing decisions. FCRP is evaluated through simulations using the ONE simulator, focusing on two metrics: average latency and hop count. Results demonstrate that FCRP effectively reduces the average hop count compared to Epidemic and MaxProp protocols, indicating its ability to optimize path selection and minimize intermediate message transmissions. Additionally, FCRP achieves competitive latency performance, with lower delays in sparse networks and moderate increases in high-density scenarios, highlighting its ability to balance efficiency with delivery time.