Mobile Agent (MA) technology brings many benefits into Wireless Sensor Networks (WSNs), such as saving network bandwidth and enabling energy efficient mechanisms for collecting sensor data. Nowadays, itinerary planning for MAs is one of the most important features of the WSN. However, the way in which all dispatched MAs are routed inside the sensor networks must be intelligently planned to reduce energy consumption and improve information accuracy. There have been many research efforts designing itinerary planning algorithms to deploy multiple MAs in a given sensor network, where routes are generated so that MAs can follow different routes to collect data from sensor nodes efficiently and effectively. This paper proposes a new energy efficient Graph-based Static Mutli-Mobile Agent Itinerary Planning approach (GSMIP). GSMIP applies Directed Acyclic Graph (DAG) related techniques and divide sensor nodes into different groups based on the routes defined by MAs itineraries. MAs follow the predefined routes and only collect data from the groups they are responsible for. The experimental findings demonstrate the effectiveness and superiority of the proposed approach compared to the existing approaches in terms of energy consumption and task delay (time).