Inter-vehicular communication (or Vehicular Adhoc Networks, VANET) mirrors as one of the emerging technologies for road safety and comfort applications. However the use of this technology is limited due to the lack of an efficient routing protocol. In this paper we propose Density Aware Routing using Road Hierarchy (DAR-RH) which is based on realistic road topology. DAR-RH exploits the available road hierarchy information to transfer data from source to destination. In the proposed solution two routes are maintained; in case of failure of the primary route, an alternative route is maintained at a higher hierarchy under sparse network conditions. The proposed scheme is found to exhibit significant performance improvement in comparison with a geographic routing protocol under similar conditions.