In Wireless Sensor Networks (WSNs), routing data towards the sink leads to unbalanced energy consumption among intermediate nodes resulting in high data loss rate. The use of multiple Mobile Data Collectors (MDCs) has been proposed in the literature to mitigate such problems. MDCs help to achieve uniform energy-consumption across the network, fill coverage gaps, and reduce end-to-end communication delays, amongst others. However, mechanisms to support MDCs such as location advertisement and route maintenance introduce significant overhead in terms of energy consumption and packet delays. In this paper, we propose a self-organizing and adaptive Dynamic Clustering (DCMDC) solution to maintain MDC-relay networks. This solution is based on dividing the network into well-delimited clusters called Service Zones (SZs). Localizing mobility management traffic to a SZ reduces signaling overhead, route setup delay and bandwidth utilization. Network clustering also helps to achieve scalability and load balancing. Smaller network clusters make buffer overflows and energy depletion less of a problem. These performance gains are expected to support achieving higher information completeness and availability as well as maximizing the network lifetime. Moreover, maintaining continuous connectivity between the MDC and sensor nodes increases information availability and validity. Performance experiments show that DCMDC outperforms its rival in the literature. Besides the improved quality of information, the proposed approach improves the packet delivery ratio by up to 10%, end-to-end delay by up to 15%, energy consumption by up to 53%, energy balancing by up to 51%, and prolongs the network lifetime by up to 53%.