This paper addresses the issue of selecting routing paths with minimum end-to-end delay (E2ED) for nonsafety applications in urban vehicular ad hoc networks (VANETs). Most existing schemes aim at reducing E2ED via greedy-based techniques (i.e., shortest path, connectivity, or number of hops), which make them prone to the local maximum problem and to data congestion, leading to higher E2ED. As a solution, we propose SCRP, which is a distributed routing protocol that computes E2ED for the entire routing path before sending data messages. To do so, SCRP builds stable backbones on road segments and connects them at intersections via bridge nodes. These nodes assign weights to road segments based on the collected information of delay and connectivity. Routes with the lowest aggregated weights are selected to forward data packets. Simulation results show that SCRP outperforms some of the well-known protocols in literature.