Structured P2P Networks create a virtual topology on top of the physical topology. The only relation between the two layers is the hashing algorithm, which makes the node’s logical ID independent of its physical location. By analyzing the Hash function, some novel logical connections among the destination node, the traditional semantic routing relay node sequence, and the ID of the clustering neighboring nodes are found. In this paper, the SCSRAA (self-organizing clustering semantic routing advanced algorithm) is resented to improve the efficiency of semantic routing. Since the clustering nodes only have local views in self-organizing mode, some rules are proposed for a node to learn other nodes’ physical location. The SCSRAA’s routing algorithm is described completely. Simulations have verified that the method can improve the semantic routing efficiently.