In this paper, a novel discovery protocol using modified counting Bloom filters for data distribution service (DDS) is proposed. In current discovery protocols for DDS, each participant sends its endpoint data to every participant, and receives endpoint data from all other participants. In a large network such as naval warships, a lot of memory is required to store all the data. In many cases, most of the data stored is not needed by the endpoints but occupy memory storage. To reduce the size of data sent and stored, a discovery process combined with counting bloom filter is proposed. This paper presents the delay time for filters construction and the total discovery time needed in a naval warship network topology. The simulation results shows that the proposed method gives low delay time and no false positive probability.