This paper focuses on the QoS-aware secure routing design based on the physical layer security technology for a multi-hop wireless network consisting of legitimate nodes, malicious eavesdroppers, and selfish jammers. We first provide theoretical modeling for a given route to reveal how its end-to-end security/QoS performance is related to the transmitting power of legitimate nodes along the route and the jamming power of jammers in the network. We then design an incentive mechanism that stimulates jammers to generate artificial jamming for security enhancement, and also develop a non-cooperative game framework to resolve the jamming power setting issue here. Based on the security/QoS performance modeling of the route and jamming power setting, we further propose a theoretical framework to determine the optimal transmitting power of nodes along the route such that its optimal transmission security can be achieved under a QoS constraint. Finally, with the help of the power setting results of the given route, we formulate a shortest weighted path-finding problem to identify the optimal route for data delivery in the network, which can be solved by employing the Bellman-Ford or Dijkstra's algorithm. It is demonstrated that the proposed routing scheme is individually rational, stable, distributed and computationally efficient.