Safety applications in Vehicular Ad-hoc Network (VANET) are used to reduce the number of accidents, which necessitates good Quality of Service (QoS), especially in some urgent cases and critical traffic. In fact, several Medium Access Control (MAC) protocols were proposed to provide high-performance for vehicular networks. For instance, the Contention-free MAC allows several vehicles to share the same communication channel. However, contention-based MAC protocols do not require any predefined schedule where each node competes for channel access when it needs to transmit data without any guarantee of success transmission. Hence, a hybrid MAC protocol that adopts Time Division Multiple Access (TDMA) and Carrier Sense Multiple Access (CSMA/CA) is required to enhance the network performance. Nevertheless, hybrid MAC protocols cannot ensure services differentiation so that critical messages and nonsecurity messages have the same priority. In this context and to overcome such limitation, this paper focuses on the design of a novel access method integrating TDMA and Enhanced Distributed Channel Access (EDCA) in unique architecture called Qos-aware Centralized Hybrid MAC protocol (QCH-MAC). To prove the efficiency of our proposal, the latter was implemented in ns-3 and the simulator SUMO to generate vehicular mobility traces. Therefore, experiments were performed to show the high performance of our system