Recent advances in Wireless Sensor Networks (WSNs) have brought the sensor based monitoring developments to the surface in many applications. In such a scenario, the security of communication is a major challenge in the effective delivery of the collected data due to the presence of malicious nodes. Moreover, since security and minimization of energy consumption are critical factors in designing techniques for multi-hop secure routing in wireless sensor networks, it is necessary to address the issues of security in the routing process. Hence, this paper proposes a novel intrusion detection system for enhancing the security and Fuzzy based Ant Colony Optimization based Secured Quality of Service Routing Protocol (F-ACO-SQoSRP) for increasing the security of communication and network performance in WSNs. Using this proposed Intrusion Detection System (IDS), the proposed model identifies the distinct and malicious behaviours of nodes. Additionally, a clustering algorithm has been proposed in this work, wherein the Cluster Head Selection (CHS) is based on Quality of Service (QoS) measures and the trust values of nodes are measured using the intrusion detection system results. The proposed ACO based routing framework also predicts the best optimum and secured path to allow for effective communication across each link. The simulation results obtained from this work proved that the proposed secured routing algorithm provides better performance in terms of security using robust trust values, increase in packet delivery ratio and network lifetime reduction in delay and energy consumption when this work is compared with the existing secured routing systems.