The application of cloud computing has diversified with the adoption of Internet of Things (IoTs) and edge computing. However, it has increased the uncertainty of workload demand; thus, the efficient utilization of cloud computing resources become more challenging. Traditionally, dynamic consolidation of workload inside cloud data centers relies on identifying overload and under-load hosts using either static or dynamic threshold value. In this paper, we propose a Utilization Driven Model (UDM) model to estimate the number of under-utilized and over-utilized processing machines through percentile ranks of low and high utilization from mean value of resource utilization of hosts and the value of mean absolute deviation of resource demand. UDM swiftly reacts to any change in workload demand and adapts the system to the current demand of resource utilization. The UDM approach not only impacts the energy consumption and quality of service but also increases the elastic nature of cloud by robustly managing the sudden changes in workload. Experiment results show that UDM is an efficient server consolidation technique, improving 30% energy, 40% quality of service compared to contemporary techniques. Thus, the UDM is more robust to support stochastic resource demand compared to traditional techniques. INDEX TERMS Server consolidation, cloud computing, efficient resource utilization, cloud data centers, dynamic workload consolidation.