The security of cyber-physical systems, from self-driving cars to medical devices, depends on their underlying multi-hop wireless networks. Yet, the lack of trusted central infrastructures and limited nodes' resources make securing these networks challenging. Recent works on key pre-distribution schemes, where nodes communicate over encrypted overlay paths, provide an appealing solution because of their distributed, computationally light-weight nature. Alas, these schemes share a glaring security vulnerability: the two ends of every overlay link can decryptand potentially modify and alter-the message. Plus, the longer overlay paths impose traffic overhead and increase latency. We present a novel routing mechanism, KPsec, to address these issues. KPsec deploys multiple disjoint paths and an initial key-exchange phase to secure end-to-end communications. After the initial key-exchange phase, traffic in KPsec follows the shortest paths and, in contrast to key predistribution schemes, intermediate nodes cannot decrypt it. We measure the security and performance of KPsec as well as three state-of-the-art key pre-distribution schemes using a real 10-node testbed and large-scale simulations. Our experiments show that, in addition to its security benefits, KPsec results in 5 − 15% improvement in network throughput, up to 75% reduction in latency, and an order of magnitude reduction in energy consumption.