This paper proposes a new Quality of Service (QoS)-based adaptive power control (QPC) scheme for interference mitigation among co-located wireless body area networks (WBANs). The problem can be formulated as a Nash bargaining game. The proposed solution not only achieves the Pareto optimal solution, but also guarantees the fairness among competing players. Owing to the special features of WBANs, the proposed utility function considers the urgency of the sensed data and the energy efficiency of sensors, which are indicated by emergency index and energy consumption factor, respectively. Thus, the transmission power is adjusted dynamically to adapt to the different QoS requirements under the constraints of permissible maximum transmission power and desired minimum signal-to-interference-plus-noise-ratio (SINR). Moreover, a unified analytical framework based on Lagrange multiplier approach is adopted to optimize the Nash product, where near optimal power control strategy is derived iteratively using the fix-point method. Extensive simulation results show that compared with the existing benchmark algorithms, the proposed QPC scheme has better performance in terms of energy efficiency, network reliability, Pareto optimality and fairness.