With the advent of real applications in fields like defense and domestic fields, MANET is becoming more popular. MANET does not require any infrastructure, moreover it can behave as mobile networks. These features have boosted up the popularity of MANET in the community. As more and more fields get dependent on MANET, the system needs to be more robust and less expensive. For example, in defense field security is the major issue, while in the domestic field maintaining the QoS is the major issue. To commercialize MANET the routing protocols need to be lightweight, secure and the hardware on which it is to be implemented should be low cost at the same time. We propose a lightweight, secure and efficient routing model for MANETs; which uses fidelity to allocate trust to a neighbor, thereby taking the decision whether to send data via that secure neighbor or not. It also uses new packets like report and recommendation that help the protocol to detect and eliminate the malicious nodes from the network. To observe the results we implement this protocol in hardware, on the Arduino platform in ZigBee network. We observe that our protocol exhibits high packet delivery fraction, low normalize routing load and low end to end delay, compared to existing secure routing protocols. Thereby, maintaining a constant tradeoff between the QoS and the security of the network.