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Day by day population of world is increasing, so there is crucial task in front of farmers to fulfill the basic need of food of individuals. Internet of Things (IoT) plays a crucial role in current agricultural practices for well in time results. An efficient working of IoT network requires intelligent, dynamic and efficient routing protocols which minimizes latency, improves the energy efficiency and increases network lifetime. Such protocols give better contribution in IoT assisted Precision Agriculture (PA) for getting higher yields in stipulated time. There is scope for improvement in the current IoT protocols. Our experimentation and simulation study introduces Novel Intelligent Robust Optimized Dynamic and Efficient Cluster (NIRODEC) based routing protocol for IoT assisted PA. NIRODEC highlights on minimizing latency, improving the energy efficiency and increases network lifetime. The results show that the NIRODEC protocol offers better performance than the protocols mentioned in the state of art. For the experimentation we have considered the case of identifying soil fertility and soil health with consumption of soil nutrients such as nitrogen (N), phosphorus (P), and potassium (K) etc.