In recent decades, the use of sensors has dramatically grown to monitor human body activities and maintain the health status. In this application, routing and secure data transmission are very important to prevent the unauthorized access by attackers to health data. In this article, we propose a secure routing scheme called SecAODV for heterogeneous wireless body sensor networks. SecAODV has three phases: bootstrapping, routing between cluster head nodes, and communication security. In the bootstrapping phase, the base station loads system parameters and encryption functions in the memory of sensor nodes. In the routing phase, each cluster head node calculates its degree based on several parameters, including, distance, residual energy, link quality, and the number of hops, to decide for rebroadcasting the route request (RREQ) message. In the communication security phase, a symmetric cryptography method is used to protect intra-cluster communications. Also, an asymmetric cryptography method is used to secure communication links between cluster head nodes. The proposed secure routing scheme is simulated in the network simulator version 2 (NS2) simulator. The simulation results are compared with the secure multi tier energy-efficient routing scheme (SMEER) and the centralized low-energy adaptive clustering hierarchy (LEACH-C). The results show that SecAODV improves end-to-end delay, throughput, energy consumption, packet delivery rate (PDR), and packet loss rate (PLR).