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Cooperative diversity techniques have recently received a lot of attention due to their ability to provide spatial diversity in fading wireless environment. It increases link reliability, provides higher capacity, reduces transmit power, and extends transmission range for the same level of performance and modulation rate. This paper studies how to select a path from source to destination that minimizes the end-to-end latency in wireless ad hoc networks by using cooperative transmission at the physical layer. We propose an Edge Node based Greedy Cooperative Routing (ENBGCR) algorithm, where we modify the Geographic Routing (GR) algorithm to incorporate the cooperative transmission and extend the coverage range of the nodes. The numerical analysis are presented to validate the performance of the proposed routing protocol. We found that the ENBGCR algorithm is energy efficient, results in lower end-to-end delay, and involves less number of hops or transmissions for the same QoS requirement as compared to a standard implementation of next hop selection algorithm.