The routing problem is a fundamental issue in all wired and wireless networks. Wireless Sensor Networks (W), as examples of wireless networks, are one of the most important technologies in the 21 st century with applications in almost all fields. Routing in W has its specific challenges due to its unique characteristics and limitations. There are a lot of routing algorithms for W which most of these algorithms deal only simplicity and energy consumption and delay considerations do not play an important role in their design. Recent advances in electronics and availability of inexpensive and small size audio and video sensors have led to real-time applications, such as surveillance and intrusion detection, in addition to the former scalar applications of W. As a result, delay issue and providing QoS should be considered in routing decisions in addition to energy. In this thesis, we present a survey of existing routing protocols for W after a review on these networks. Then, in addition to a short introduction of Wireless Multimedia Sensor Networks (WM), we present our proposed routing algorithm which considers both energy metrics and QoS. The proposed algorithm, in addition to simplicity, has a very low overhead. Both real-time and non real-time traffics in a heterogeneous network receive proper service in our algorithm. Simulation results show that the proposed algorithm has good performance in both energy consumption and average delay while guarantees QoS for real-time packets.