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Recently, mobile terminals with wireless communication mechanism such as cell phones, PDAs or laptops are widely used and ad hoc networks have become popular. In mobile ad hoc networks, since nodes move around the network, the network topology and the number of neighboring nodes in each node frequently change. Although the number of neighboring nodes in each node and the distance between each node always changes, the transmission range of each node is not changed. Therefore, it is expected that many packet collisions among nodes occur and energy power of each node is much consumed. This paper proposes an adaptive transmission power control scheme for hierarchical routing. In the proposed scheme, each node changes the transmission power according to the number of neighboring nodes of each node in the autonomous clustering. In order to show the effectiveness of the proposed scheme, the performance has been evaluated through the simulation experiments.