Topology control is one of the key technologies in ad hoc network. Recently some topology control algorithms focus on reducing the end-to-end delay have been proposed. However, they do not consider the delay which is caused by contending for the shared channel and collision at MAC layer. In this paper, we put forward a new delay model to character the link delay which is composed by the transmission delay, access delay and collision delay. We obtain the probability of waiting to access the channel according to the probability of transmission and the nodes' distribution. In particular, the delay model takes into account the impact of the capture effect and the collision caused by hidden terminals. Then a distributed topology control algorithm is put forward to make sure that the final topology is composed of the minimum delay paths. Finally, abundant simulations prove that the topology built by our algorithm can reduce the network delay efficiently.