| The Internet of Things (IoT) will feature pervasive sensing and control capabilities via a massive deployment of machine-type communication (MTC) devices. The limited hardware, low-complexity, and severe energy constraints of MTC devices present unique communication and security challenges. As a result, robust physical-layer security methods that can supplement or even replace lightweight cryptographic protocols are appealing solutions. In this paper, we present an overview of low-complexity physical-layer security schemes that are suitable for the IoT. A local IoT deployment is modeled as a composition of multiple sensor and data subnetworks, with uplink communications from sensors to controllers, and downlink communications from controllers to actuators. The state of the art in physical-layer security for sensor networks is reviewed, followed by an overview of communication network security techniques. We then pinpoint the most energy-efficient and low-complexity security techniques that are best suited for IoT sensing applications. This is followed by a discussion of candidate low-complexity schemes for communication security, such as ON-OFF switching and space-time block codes. The paper concludes by discussing open research issues and avenues for further work, especially the need for a theoretically well-founded and holistic approach for incorporating complexity constraints in physical-layer security designs.