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Intrusion detection in Wireless Sensor Network (WSN) is of practical interest in many applications such as detecting an intruder in a battlefield. The intrusion detection is defined as a mechanism for a WSN to detect the existence of inappropriate, incorrect, or anomalous moving attackers. For this purpose, it is a fundamental issue to characterize the WSN parameters such as node density and sensing range in terms of a desirable detection probability. In this paper, we consider this issue according to two WSN models: homogeneous and heterogeneous WSN. Furthermore, we derive the detection probability by considering two sensing models: single-sensing detection and multiple-sensing detection. In addition, we discuss the network connectivity and broadcast reachability, which are necessary conditions to ensure the corresponding detection probability in a WSN. Our simulation results validate the analytical values for both homogeneous and heterogeneous WSNs.