A mobile wireless ad hoc sensor network (MANET) consists of a group of homogeneous or heterogeneous mobile communicating hosts that form an arbitrary network interconnected via by means of several wireless communication media without any fixed infrastructure. In such network the delivery of the data packet from source to destination may fail for various reasons and major due to failure-prone environment of networks. This may happens due to the topology changes, node failure due to battery exhaust, failure of the communication module in the wireless node and results in the link failure. This paper addressed the major problem of link failure in the WSN and with the aim of providing robust solution so as to satisfy the stern end-to-end requirements of QoS-based communication networks. In this paper we modifies existing fully distributed cluster-based routing algorithm by addressing local recovery for the link failure. Performance of this new fault-tolerant fully distributed cluster-based routing algorithm is evaluated by simulating it in NS2 environment and we show that it performs better than the existing algorithm and provide better solution for fault detection and fault management along the QoS paths