The Internet of Things (IoT) have shown numerous potential applications that can enhance our quality of life. IoT is becoming a core technology to bring smart homes, smart cities, and smart industries into reality. However, with potential benefits comes a challenge of sustainability, and one major concern is to minimize energy consumption. In a citywide area, managing the operation of such large-scale IoT networking is one of the complex tasks. One of the ways is to utilize dynamic sensing scheduling where the IoT device goes to the sleep mode and prevents unnecessary data transmission. In this paper, we propose a dynamic sensing (DynaSens) algorithm for an IoT-based waste management system. This algorithm helps to reduce the waste bin overflowing, thus, provides better sanitation, and it is also helpful in reducing the fuel cost of waste collection vehicles. Our work utilizes measured values such as current consumption, LiDAR measurement time, and LoRa transmission time as the input data for the simulation experiment to evaluate energy consumption. We also assessed DynaSens using a real dataset obtained from a recycling house. We use Pycom LoPy4 micro-controller as a development board. For a number of garbage-thrown scenarios, DynaSens enables longer battery longevity by reducing the repeated execution of the same tasks. © 2022 IEEE.