—Most of geographic routing approaches in wireless ad hoc and sensor networks do not take into consideration the medium access control (MAC) and physical layers when designing a routing protocol. In this paper, we focus on a cross-layer framework design that exploits the synergies between network, MAC, and physical layers. In the proposed CoopGeo, we use a beaconless forwarding scheme where the next hop is selected through a contention process based on the geographic position of nodes. We optimize this Network-MAC layer interaction using a cooperative relaying technique with a relay selection scheme also based on geographic information in order to improve the system performance in terms of reliability.