This paper proposes a dynamic priority system at medium access control (MAC) layer to schedule time sensitive and critical communications in infrastructure-less wireless networks. Two schemes, priority enabled MAC (PE-MAC) and optimized PE-MAC are proposed to ensure real-time and reliable data delivery in emergency and feedback systems. These schemes use a dynamic priority mechanism to offer improved network reliability and timely communication for critical nodes. Both schemes offer a notable improvement in comparison to the IEEE 802.15.4e low-latency deterministic networks. To ensure more predictable communication reliability, two reliability centric schemes, quality-ensured scheme (QES) and priority integrated QES, are also proposed. These schemes maintain a pre-specified successful packet delivery rate, hence improving the overall network reliability and guaranteed channel access.