Abstract: The unique characteristics of the underwater acoustic communication channel, such as three dimensional volumes of the environment and the limited energy, make it necessary to design and develop new routing algorithms. In this study, we propose an innovative energy-efficient multi-hop routing scheme for three-dimensional sensor networks based on compressed sensing. During each frame, a randomly chosen subset of nodes participates in the sensing process instead of all nodes delivering their message to the Sink node. Every chosen node finds a tour to the Sink node. As the message travels through the tour, each node computes the product of its sensing data and a random weighted coefficient and adds value to the intermediate result received from the last node. Analysis and simulation results show that our proposed algorithms are able to give an accurate approximation of the monitoring field and prolong network lifetime.