In vehicular ad hoc networks (VANETs), transmission power is a key factor in several performance measures, such as throughput, delay, and energy efficiency. Vehicle mobility in VANETs creates a highly dynamic topology that leads to a nontrivial task of maintaining connectivity due to rapid topology changes. Therefore, using fixed transmission power adversely affects VANET connectivity and leads to network performance degradation. New cross-layer power control algorithms called (BL-TPC 802.11MAC and DTPC 802.11 MAC) are designed, modeled, and evaluated in this paper. The designed algorithms can be deployed in smart cities, highway, and urban city roads. The designed algorithms improve VANET performance by adapting transmission power dynamically to improve network connectivity. The power adaptation is based on inspecting some network parameters, such as node density, network load, and media access control (MAC) queue state, and then deciding on the required power level. Obtained results indicate that the designed power control algorithm outperforms the traditional 802.11p MAC considering the number of received safety messages, network connectivity, network throughput, and the number of dropped safety messages. Consequently, improving network performance means enhancing the safety of vehicle drivers in smart cities, highway, and urban city. © 2020 Wiley Periodicals LLC.