In a mobile ad hoc network (MANET), the topology of the network may change rapidly and unexpectedly due to mobility of nodes. Thus, setting up routes that meet high reliability is a very challenging issue. Another important problem in the MANETs is the energy consumption of nodes. When the energy of a node is depleted, it stops working thus links break. Hence it is very important to find a route that has sufficient energy level and high stability, and so can obtain reliable routing and data transmission. To address the aforementioned problems, we propose a reliable QoS routing protocol which bases on the route life time that is obtained using mobility information, the residue energy and hop count. Therefore in this scheme, data is sent through a route with high stability, high residue energy level and low latency. Simulation results show that the SQR-AODV protocol achieves high reliability and stability and also long life time of the network, with high packet delivery ratio, high throughput, low energy consumption and considerable load balancing as compared to best-known on-demand protocol, AODV. Key words: Mobile ad hoc network, routing, ad hoc on-demand distance vector, quality of service.