Sensing-based Semi-Persistent Scheduling (SB-SPS) MAC protocol is proposed as part of the latest cellular vehicle to everything (C-V2X) standard for medium access between vehicles. As C-V2X uses LTE based frame structure, mode 4 of the C-V2X standard uses SB-SPS to allocate resource blocks effectively. C-V2X shows great potential for the future as it brings many improvements such as enhanced range, reliability, and the ability to support and evolve with emerging technologies such as 5G. In this article, the SB-SPS protocol’s performance was analyzed in different scenarios using OMNET++, SUMO, and Veins simulator. Different vehicle speeds and densities were used to observe the effect on packet loss and throughput. It was found that as packet loss decreased, throughput increased when the mobility of vehicles decreased. The effects of changing some important parameters of SB-SPS were also observed. The results showed that while parameters such as increasing the number of subchannels increased the packet delivery ratio (PDR), the change in the probability of resource reselection parameter did not affect the PDR.