The development of Autonomous Vehicles (AVs) envisions the promising technology of future Intelligent Transportation Systems (ITS). However, the complex road structures and increased vehicles cause traffic congestion and road safety, which eventually leads to horrible accidents. Cooperative driving of AVs, a groundbreaking initiative of vehicle platooning, epitomizes the next wave in vehicular technology through minimizing accident risks, transport times, costs, energy, and fuel consumption. However, the traditional machine learning-based platooning approaches fail to regulate the policy with the dynamic feature of AVs. This paper proposes a hybrid Deep Reinforcement learning and Genetic algorithm for Smart-Platooning (DRG-SP) the AVs. The leverage of the deep reinforcement learning mechanism addresses the computational complexity and accommodates the high dynamic platoon environments. Adopting the Genetic Algorithm in Deep Reinforcement learning overcomes the slow convergence problem and offers long-term performance. The simulation results reveal that the Smart-Platooning effectively forms and maintains the platoons by minimizing traffic congestion and fuel consumption.