Disclosed are a method and device for implementing an ad hoc network routing protocol in a multi-agent system. The device includes a trajectory information acquisition module, a data packet delivery module, a delivery confirmation module, a data packet forwarding module, a data transmission feedback module and a data storage module. The method includes: acquiring a separation and rendezvous timing table and an adjacency matrix of an ad hoc network composed of multiple agents at a given moment; if a source node has message sending requirement, performing data packet delivery and delivery confirmation based on the separation and rendezvous timing table and the adjacency matrix; and performing data packet forwarding and transmission status feedback by a non-source node.