In　duty-cycled　wireless　sensor　networks,　energy　efficiency　and　packet　latency　are　two　most　important　metrics　in　the　design　of　medium　access　control　and　routing　algorithms.　However,　these　two　problems　cannot　be　addressed　well　at　the　same　time.　In　this　article,　we　investigate　the　trade-off　between　energy　consumption　and　latency　and　formulate　them　into　a　multi-objective　optimization　problem.　By　applying　the　single　exponential　smoothing　method,　we　estimate　the　amount　of　data　of　next　period　and　design　two　optimal　sleep　time　controllers　according　to　time　scheduling　model　of　network,　so　as　to　dynamically　adjust　the　duty　cycle　of　end　node.　Our　controllers　also　consider　the　residual　energy　of　end　node.　Finally,　we　propose　two　dynamic　and　adaptive　medium　access　control　algorithms　for　synchronous　and　asynchronous　duty-cycled　wireless　sensor　networks,　respectively.　We　evaluate　our　protocols　with　different　parameters　and　compare　them　with　existing　works.　Performance　results　show　that　our　proposed　algorithms　can　balance　power　consumption　among　nodes　and　improve　power　efficiency　while　guaranteeing　packet　latency　is　minimized.