Multi-beam antenna is drawing attention due to its power-saving and interference-reducing. A topology control algorithm K-DRNG based on multi-beam antenna in heterogeneous wireless Ad Hoc network is proposed. The algorithm is mainly composed of three phases. In the stage of information collection, each node collects information of neighborhood by adjusting the transmitting power and controlling sector conversion. In the stage of topology construction, each node constructs directed relative neighborhood graph according to link weighs. In the stage of topology optimization, each node constructs subgragh of initial topology and adds or deletes directional links with neighborhood to guarantee bi-directional connectivity of topology. The simulation results show the proposed algorithm can reduce the average energy consumption of nodes, increase the spatial reuse of radio resource, thus improve integral network performance.