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The Internet of Things (IoT) is a distributed system which is made up of the connections of smart objects (things) that can continuously sense the events in their sensing domain and transmit the data via the Internet. IoT is considered as the next revolution of the Internet since it has provided vast improvements in day-to-day activities of humans including the provision of efficient healthcare services and development of smart cities and intelligent transport systems. The IoT environment, by the application of suitable security mechanisms through efficient security management techniques, intrusion detection systems provide a wall of defence against the attacks on the Internet and on the devices connected with Internet by effective monitoring of the Internet traffic. Therefore, the intrusion detection system (IDS) is a resolution proposed by the researchers to monitor and secure the IoT communication. In this work, a meticulous analysis of the security of IoT networks based on quality-of-service metrics is performed for deploying intrusion detection systems by carrying out experiments on secured communication and measuring the network’s performance based on comparing them with the existing security metrics. Finally, we propose a new and effective IDS using a deep learning-based classification approach, namely, fuzzy CNN, for improving the security of communication. The major and foremost advantages of this system include an upsurge in detection accuracy, the accurate detection of denial of service (DoS) attacks more efficiently, and the reduction of false positive rates.