Multiprocessor System-on-Chip (MPSoC) has become necessary due to the the billions of transistors available to the designer, the need for fast design turnaround times, and the power wall. Thus, present embedded systems are designed with MPSoCs, and one possible way MPSoCs can be realized is through Pipelined MPSoC (PMPSoC) architectures, which are used in applications from video surveillance to cryptosystems. Hardware Trojans (HTs) on PMPSoCs are a significant concern due to the damage caused by their stealth. An adversary could use HTs to extract secret information (data leakage) to modify functionality/data (functional modification) or make PMPSoCs deny service. In this article, we present PMPGuard, a mechanism that (1) detects the presence of hardware Trojans in Third Party Intellectual Property (3PIP) cores of PMPSoCs by continuous monitoring and testing and (2) recovers the system by switching the infected processor core with another one. We designed, implemented, and tested the system on a commercial cycle accurate multiprocessor simulation environment. Compared to the state-of-the-art system-level techniques that use Triple Modular Redundancy (TMR) and therefore incur at least 3× area and power overheads, our proposed system incurs about 2× area and 1.5× power overheads without any adverse impact on throughput.