In this paper, we study the vehicle-to-vehicle communication and destination discovery problems that are often seen in VANET. Then we present a novel routing protocol called COoperative Destination discovery Scheme with ADaptive routing (CODS-AD). CODS-AD not only enables vehicles to cooperatively assist source node to discover the position of destination node, doing so without the support of location services. It also enhances the ability to dynamically adjust the forwarding strategy according to the traffic density of road segment. This improves the delivery ratio and reduces unnecessary waste of bandwidth in the case of lower traffic density. Based on these studies, we modeled the real vehicle mobility with vehicle-to-vehicle wireless transmissions using TraNS and NS2 that enables us to simulate in a much more realistic environment. Finally, the simulation results show that CODS-AD can efficiently locate the position of destination nodes hence it decreases the control overheads and effectively improves the delivery ratios.