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Secure routing is a guarantee for wireless sensor networks working normally. The classical security mechanisms, such as encryption and authentication can only prevent the outside attacks and is helpless to inside attacks. In order to defeat the inside attacks and realize secure and efficient routing in static wireless sensor networks, we make three contributions in this paper. The first is to build a trust model to evaluate the behaviors of nodes. The second is to bring forward a new coding method for cells in hexagon model, which can represent the location of the cell in target fields make us take full advantage of the nodepsilas deployment knowledge in the hexagon model. The third is to realize secure and efficient routing in static hexagon based wireless sensor networks by making routing decision on the trust value, the residual energy, the hops and the distance to the destination sink.