Underwater wireless sensor networks (UWSNs) innovation has been employed in modern contexts to facilitate the exploration of underwater scenarios. The establishment of reliable communication among underwater objects presents a significant obstacle in contrast to surface-level communication, mostly due to the distinctive attributes inherent to the underwater environment. These attributes include water currents, loud conditions, and restricted resources. Numerous routing strategies have been proposed as potential solutions to address the issues encountered in the underwater wireless sensor networks (UWSNs). The existing strategies mostly concentrate on enhancing either the dependability or energy consumption of the routing mechanism. The inclusion of both factors in the routing process brings about increased complexity and significant overhead. In this paper, an attempt has been made to utilize the capabilities of the Routing Protocol for Low Power and Lossy Networks (RPL) in UWSN communication, employing DAG to address routing challenges in underwater environments. The proposed framework is designed to calculate the perfect rank value for selecting a parent node during data transmission to a destination node. Utilizing the Contiki operating system, the Cooja simulator is used to simulate the performance of the proposed work. The simulation results show that increasing the number of nodes from 20 to 80 greatly improves the performance of the proposed framework. Comparing the proposed framework to existing approaches, it finds improved performance in terms of obtaining a high packet delivery ratio and lowering end-to-end latency.