The integration of Unmanned Aerial Vehicles (UAVs) with the Internet of Things (IoT) is revolutionizing a wide range of applications. However, collecting massive sensing data from large-scale fields efficiently remains challenging, constrained by the limited energy of UAVs and sensing nodes. Existing schemes lack the computational intelligence of an Edge Server (ES) for deep coordination. To address this, we propose DC-CSAP, a novel “Edge-UAV-End” collaborative data collection framework. DC-CSAP introduces a systematic workflow orchestrated by the ES, which is operationalized through four dedicated collaboration mechanisms: (1) In our ES–UAV collaboration, we devise a two-phase path optimization algorithm that hybridizes Simulated Annealing (SA) with a convex-hull-inspired greedy method. (2) The ES–ISN collaboration features a prediction-based binary vector mechanism, transmitting only inaccurate data to slash communication overheads. (3) The UAV–ISN and (4) Inter-ISN protocols ensure efficient data exchange and aggregation. Extensive simulations validate that DC-CSAP outperforms benchmarks in terms of Correct Prediction Rate (CPR), energy efficiency, and UAV path length.