With the emergence of various Internet of Things (IoT) technologies, energy-saving schemes for IoT devices have been rapidly developed. To enhance the energy efficiency of IoT devices in crowded environments with multiple overlapping cells, the selection of access points (APs) for IoT devices should consider energy conservation by reducing unnecessary packet transmission activities caused by collisions. Therefore, in this paper, we present a novel energy-efficient AP selection scheme using reinforcement learning to address the problem of unbalanced load that arises from biased AP connections. Our proposed method utilizes the Energy and Latency Reinforcement Learning (EL-RL) model for energy-efficient AP selection that takes into account the average energy consumption and the average latency of IoT devices. In the EL-RL model, we analyze the collision probability in Wi-Fi networks to reduce the number of retransmissions that induces more energy consumption and higher latency. According to the simulation, the proposed method achieves a maximum improvement of53%in energy efficiency,50%in uplink latency, and a2.1-times longer expected lifespan of IoT devices compared to the conventional AP selection scheme.