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In this paper, we study the secure routing for cluster-based sensor networks where clusters are formed dynamically and periodically. We point out the deficiency in the secure routing protocols with symmetric key pairing. Along with the investigation of ID-based cryptography for security in WSNs, we propose a new secure routing protocol with ID-based signature scheme for cluster-based WSNs, in which the security relies on the hardness of the Diffie-Hellman problem in the random oracle model. Because of the communication overhead for security, we provide analysis and simulation results in details to illustrate how various parameters act between security and energy efficiency.