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In this paper, a collision-free on-demand multiple access (CF-ODMA) protocol for mobile ad hoc networks is proposed. In the CF-ODMA protocol, every node obtains collision-free polling service by channel reservation. In addition, a collision resolution algorithm is presented to guarantee that in the present of reservation collisions the access nodes can successfully access channel in sequence, and resolve packet collisions during the contention access period. Simulation results show that the proposed protocol can achieve better performances than the IEEE 802.11 distributed coordination function (DCF) and point coordination function (PCF) mechanisms in terms of throughput, average packet dropping rate and delay.