With the advent of the Internet of Things (IoT) era, a wide array of wireless sensors supporting the IoT have proliferated. As key elements for enabling the IoT, wireless sensor nodes require minimal energy consumption and low device complexity. In particular, energy-efficient resource scheduling is critical in maintaining a network of wireless sensor nodes, since the energy-intensive processing of wireless sensor nodes and their interactions is too complicated to control. In this study, we present a practical deep Q-network (DQN)-based packet scheduling algorithm that coordinates the transmissions of multiple IoT devices. The scheduling algorithm dynamically adjusts the connection interval (CI) and the number of packets transmitted by each node within the interval. Through various experiments, we verify how effectively the proposed scheduler improves energy efficiency and handles the time-varying nature of the network environment. Moreover, we attempt to gain insight into the optimized packet scheduler by analyzing the policy of the DQN scheduler. The experimental results show that the proposed scheduling algorithm can further prolong a network's lifetime in a dynamic network environment in comparison with that in other alternative schemes while ensuring the quality of service (QoS).