Cyber-Physical Systems (CPS) is a modern generation of intelligent systems with the integrated computational performance and physical capacities. The CPS is affected by the malicious attacks due to the growth of system complexity and system openness. Therefore, an efficient data transmission method is developed to improve the CPS performances. In this paper, the Orthogonal Frequency-Division Multiplexing (OFDM) based transmission device is used in the CPS to achieve the high data rate requirement of modern communications. The Priority Aware Frequency Domain Polling (PAFDP) protocol is proposed to detect the desired node from the group of nodes based on the priority value. Here, the priority is identified by using the throughput and data rate. Moreover, the malicious nodes existing in the network are identified and avoided to minimize the packet loss in the network. The performances of the PAFDP-OFDM-CPS are analysed in terms of packet delivery rate, packet loss ratio, throughput and overhead. The PAFDP-OFDM-CPS method is evaluated by using three existing methods such as Trust Aware Wireless Routing Protocol (TAWP), Trust Aware Routing Framework (TARF) and Adaptive Duty Cycle Control Based Opportunistic Routing (ADCCOR) protocol. It was found that the PDR of the PAFDP-OFDM-CPS is 99.4% for 5 malicious nodes high compared to the TAWP and TARF protocol