In GPSR algorithm's perimeter forwarding mode, the right hand-rule is able to ensure the GPSR protocol can go out of the "hole", but it makes the choice have arbitrariness to some extent, which often lead to find larger routing hops. An improved GPSR routing algorithm using double-hands rule is proposed to resolve the "hole" problem of GPSR in wireless sensor networks. The double-hands rule includes left-hand rule and right-hand rule. The right-hand rule is the same as the GPSR algorithm's right-hand rule, the left-hand rule derives from the right-hand rule, which means that the improved GPSR algorithm will use the left hand without using the right hand to estimate how to choose the next hop node in perimeter forwarding mode. The improved GPSR routing protocol has also kept the characteristics of GPSR algorithm, such as low complexity and easy realization. At the end of this paper, it compares GPSR routing protocol's network performance by using NS-2. Simulation results show that the improved GPSR algorithm has significant performance improvement and proved the efficiency of the proposed solution compared to original GPSR in delay and packet arrival rates.