Along with expansion of utilization of mobile ad hoc networks, it is expected that the network size becomes large. However, design of current typical routing protocols supposes at most several hop routes between source and destination nodes. When messages are delivered along long hop routes in the networks, such routing protocols tend to degrade performance. Previously, we have proposed an autonomous clustering scheme for constructing and maintaining hierarchical structure in mobile ad hoc networks, which are adaptive to node movement. This paper proposes a class of hierarchical routing protocols Hi-TORA, Hi-DSR and Hi-AODV, all of which are based on the autonomous clustering scheme, compares them with their corresponding flat routing protocols TORA, DSR and AODV, respectively, and shows effectiveness of these hierarchical routing protocols by simulation experiments.