Slot assignment is the core component of Time Division Multiple Access(TDMA) protocols in wireless networks. By dividing the time into several fixed time slots, TMDA enables the two interfering nodes to transmit data in different time slots, thereby reducing the access collision rate. Therefore, a distributed TDMA slot allocation algorithm is proposed in this paper. Based on the Drand algorithm, the proposed algorithm is improved. Routing information is utilized to allocate time slots to reduce communication delay and the number of transmitted messages. The experiment results show better performance in comparison to referenced distributed channel allocation approaches. The latency is improved by 8%, and the messages complexity is reduced by 24% respectively.