Development of location estimation algorithms with improvement in location precision with lower cost, less energy consumption and less hardware support has become more important for many applications in Wireless Sensor Networks (WSNs). This paper addresses the problem of secure location determination, known as secure localization in WSNs using voting based technique which gives a search region in presence of anchor nodes. From the obtained search region trilateration is applied to know the position of sensor nodes. To avoid the involvement of sensor nodes in further location estimation process, bilateration is applied. Experimental analysis shows that the maximum number of nodes can be localized and accurate location of a node can be determined efficiently with low estimation error. To avoid the attacks and involvement of malicious nodes in the localization process, we implement an improved authentication and security algorithm. Using few location reference points in the localization process reduces the communication cost. The proposed scheme also provides very good localization accuracy.