In this work, we propose a new framework able to ensure the Quality-of-Services (QoS) with different security levels in Wireless Sensor Networks (WSNs). We propose a new model based on the PID (Proportional Integral Derivative) controller in order to dynamically select the security level adapted to QoS requirement while considering the energy consumption. The stability parameters in terms of security level and QoS are taken into account by using the principle of PID which is based on the past variation parameters (history), the current system state (present) and predictable system change (future). We introduce the proposed model in AODV routing protocol called QwS-AODV protocol. Unlike the classical Secure AODV, QwS- AODV protocol aims at adding or removing security services dynamically according to the network performance. Moreover, the validation and the evaluation of the proposed solution is carried out by the simulation. The performance evaluation is pre- sented with different network parameters such as: throughput, delay, energy consumption and security services (authentication, confidentiality, Integrity). In addition, the comparison with a classical Secure AODV is done, and the results obtained from the simulation illustrate that the security is always ensured with lower costs in terms of QoS and energy consumption.