Coding complexity and error-resilience are the two key factors for video streaming in Wireless Multimedia Sensor Networks (WMSNs). Towards this objective, this paper proposes a Robust Distributed Video Coding (RDVC) framework to optimize the quality of video transmission for WMSNs. A new error-resilient Key frame coding scheme is proposed based on the protection of Wyner-Ziv Coding (WZC), in which additional Wyner-Ziv bits play a significant role for better error resilience and better Rate/Distortion (RD) performance. In addition, following the theoretical background of Distributed Joint Source Channel Coding (DJSCC), a novel distributed source channel codec based on Group Puncture Rate Adaptive IRA code (GPRA-IRA) is proposed, upon which the error-resilient Wyner-Ziv codec is designed. These experimental results show that the proposed RDVC scheme outperforms the relevant coding in terms of RD performance, notably by up to 1-3 dB, while achieving a lower encoding complexity.