Due to the growth of multimedia applications, Quality-of-Service (QoS) is becoming one of the most desirable features of mobile ad hoc networks (MANETs). However, mobility of nodes, limited bandwidth and highly dynamic nature of network topologies make it difficult to provide QoS support in MANETs. In this paper we propose a QoS routing protocol based on TORA (QoS-TORA). This protocol provides not only multiple routes between a given source and destination but also, it selects the optimized route according to applications of QoS requirements. Experimental result shows that QoS-TORA provides better performance than TORA in terms of packet delivery fraction and end to end delay. Experiments are done on NS-2 simulator.