In this paper, a centralized Telematics Peer-to-Peer (C-TP2P) execution framework and paradigm is proposed to provide efficient and feasible Telematics-centric service discovery. Unlike the close Telematics service discovery system provided by car manufacturers, the proposed C-TP2P is a novel and open framework using the P2P-like paradigm based on our somecast protocol. When a user needs a service on the road, two issues that need to be considered for Telematics service discovery are (1) how to have the candidate list of service providers and (2) how to select suitable service providers from the candidate list. Two main protocols that are proposed in the proposed open framework include the vehicular P2P messaging protocol and the somecast protocol. The vehicular P2P messaging protocol provides the communication mechanism for Telematics service discovery among Telematics central server, users and service providers using our proposed Telematics Service Markup Language (TSML). The proposed service discovery protocol using the somecast protocol consists of service provider search phase, service provider selection phase and service provider subscription phase to achieve service discovery. We also exhibit the performance merits of the proposed C-TP2P Telematics service discovery framework in this paper.