Cooperative communication can reduce energy consumption effectively due to its superior diversity gain. To further prolong network lifetime and improve the energy efficiency, this paper studies energy-efficient packet transmission in wireless ad-hoc networks and proposes a novel cluster-based cooperative packet transmission (CCPT) protocol to mitigate the packet loss and balance the energy consumption of networks. The proposed CCPT protocol first constructs a highly energy-efficient initial routing path based on the required energy cost of non-cooperative transmission. Then an iterative cluster recruitment algorithm is proposed that selects cooperative nodes and organizing them into clusters, which can create transmit diversity in each hop of communication. Finally, a novel two-step cluster-to-cluster cooperative transmission scheme is designed, where all cluster members cooperatively forward the packet to the next-hop cluster. Simulation results show that the CCPT protocol effectively reduces the energy cost and prolongs the network lifetime compared with the previous CwR and noC schemes. The results also have shown that the proposed CCPT protocol outperforms the traditional CwR protocol in terms of transmit efficiency per energy, which indicates that CCPT protocol has achieved a better trade-off between energy and packet arrival ratio.