In Wireless Sensor Network (WSN), the lifetime optimization based on minimal energy consumption and security are the crucial issues for the effective design of protocols to perform multi-hop secure routing. In order to address these issues, we propose a new routing protocol called Secured Quality of Service (QoS) aware Energy Efficient Routing Protocol in this paper which is designed based on trust and energy modelling for enhancing the security of WSN and also to optimize the energy utilization. In this proposed work, the trust modelling uses an authentication technique with a key based security mechanism for providing trust scores. Moreover, three types of trust scores namely direct, indirect and overall trust scores are calculated in this work for enhancing the security of communication. In addition, a cluster based secure routing algorithm is proposed in this work in which the cluster head has been selected based on QoS metrics and trust scores to perform cluster based secure routing. Finally, the final path has been selected based on path-trust, energy and hop count to efficiently carry out the secure routing process. The proposed work has been assessed by simulations carried out using NS2 simulator. The simulation results demonstrate that the proposed algorithm provides better performance in terms of increase in packet delivery ratio, network life time and security. Moreover, it provides reduction in delay and energy consumption when the proposed secure routing algorithm is compared to the other related secure routing algorithms. © 2019, Springer Science+Business Media, LLC, part of Springer Nature.