The static slot allocation TDMA channel access algorithms used in Integrated Individual Soldier Combat System(IISCS) are not adaptable to the demand of large battlefield network and autonomous operation. To solve the problem we proposed a dynamic slot allocation TDMA access algorithm of MAC protocol named C-TDMA based on consumption algorithm and binary tree slot allocation algorithm. The access conflicts are eliminated in the control slot by multiple RTS/CTS. The consumption arithmetic is used to control the data flow and improve fairness access of different services on the basis of delay quality and the binary tree slot allocation algorithm is used for distributed network environment. The simulation results indicate that real-time services can be supported by C-TDMA protocol in heavy-load and mixed-service in IISCS which presents good performance on access efficiency.