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Wireless sensor networks are appealing to researchers due to their wide range of application. This paper proposes A2FMAC(Adaptive and Asynchronous Medium Access Protocol with FRTS), an adaptive and low-latency MAC protocol designed for wireless sensor networks. A2FMAC saves energy by the proper sleep mechanism according to the nodes' own traffic and the grid quorum-based mechanism solves the asynchrony in the multi-hop wireless sensor network. A better pattern and schedule generation schemes are developed in this paper. And FRTS(Future Request To Send) is used in order to reduce the latency. The analytical and experimental results show that A2FMAC obtains more energy savings and reduce the latency.