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Wireless Sensor Networks (WSNs) are widely used in urban and commercial sectors to collect information over a substantial region using intelligent inter-linked sensors. The deployment of excessive number of sensors leads to data redundancy and consumes more energy. An Efficient number of required sensors with optimal position for a certain region contains predefined set of targets, maximizes the WSN lifetime and minimizes redundancy of sensors. Hence in this study, a Grundy Number-based Deterministic Sensor Deployment (GN-DSD) algorithm is proposed to identify the sensor requirement based on target’s spatial coordinates and the optimal sensors coordinates to resolve Q-coverage problem in 3D-terrain. To enhance the connectivity of WSN a relay node deployment method is proposed with Breadth First Search approach. The performance of proposed algorithm is tested by a series of simulation with varying the parameters, and a statistical analysis is performed using Analysis of Variance (ANOVA) and Fisher’s Least Significant Difference (LSD) Post-Hoc test.