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Wireless Multimedia Sensor Networks (WMSNs) consist of networks of interconnected devices involved in retrieving multimedia content, such as, video, audio, acoustic, and scalar data, from the environment. The goal of these networks is optimized delivery of multimedia content based on quality of service (QoS) parameters, such as delay, jitter and distortion. In multimedia communications each packet has strict playout deadlines, thus late arriving packets and lost packets are treated equally. It is a challenging task to guarantee soft delay deadlines along with energy minimization, in resource constrained, high data rate WMSNs. Conventional layered approach does not provide optimal solution for guaranteeing soft delay deadlines due to the large amount of overhead involved at each layer. Cross layer approach is fast gaining popularity, due to its ability to exploit the interdependence between different layers, to guarantee QoS constraints like latency, distortion, reliability, throughput and error rate. The paper presents a channel utilization and delay aware routing (CUDAR) protocol for WMSNs. This protocol is based on a cross-layer approach, which provides soft end-to-end delay guarantees along with efficient utilization of resources. Extensive simulation analysis of CUDAR shows that it provides better delay guarantees than existing protocols and consequently reduces jitter and distortion in WMSN communication.