Pre-requirement：

a.Rooted
b.USB debugging is activated.
c.A terminal emulator installed on the phone(Connectbot?)

Steps:

1.Open a terminal on your phone and issue the following commands:

[cc lang="bash"]su # Click allow on the pop-up window
setprop service.adb.tcp.port 5555
stop adbd
start adbd[/cc]

2.Then,switch to your computer, open a cmd windows and issue:
[cc lang="bash"]adb connect wifi.ip.address:5555
[/cc]
Done, you are now connected to the phone with adb over TCP.

3.Undo the procedure and let adb to listen over USB again :<
[cc lang="bash"]setprop service.adb.tcp.port -1
stop adbd
start adbd[/cc]