The Internet of Vehicles (IoVs) is an emerging paradigm aiming to introduce a plethora of innovative applications and services that impose a certain quality of service (QoS) requirements. The IoV mainly relies on vehicular ad-hoc networks (VANETs) for autonomous inter-vehicle communication and road-traffic safety management. With the ever-increasing demand to design new and emerging applications for VANETs, one challenge that continues to stand out is the provision of acceptable QoS requirements to particular user applications. Most existing solutions to this challenge rely on a single layer of the protocol stack. This paper presents a cross-layer decision-based routing protocol that necessitates choosing the best multi-hop path for packet delivery to meet acceptable QoS requirements. The proposed protocol acquires the information about the channel rate from the physical layer and incorporates this information in decision making, while directing traffic at the network layer level. Key performance metrics for the system design are analyzed using extensive experimental simulation scenarios. In addition, three data rate variant solutions are proposed to cater for various application-specific requirements in highways and urban environments.