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Security plays a vital role in enabling future integration of Wireless Sensor Networks (WSNs) with the Internet. Although security in WSNs is a mature field of research and many proposals currently exist that can address particular security threats, how to guarantee end-to-end security at the network layer for IPv6-enabled WSNs remains an open research issue. Security should be addressed at the network layer, as sensor nodes will evolve to become IPv6 aware and new applications are adapted or designed that depend on IPv6 connectivity to sensor nodes. We propose and evaluate new compressed AH and ESP 6lowpan security headers that allow the protection of IPv6 communications on IEEE 802.15.4 WSNs. As the security headers are designed to work side-by-side with other extension headers of the 6lowpan adaptation layer, they allow also the establishment of end-to-end secure communications between Internet hosts and wireless sensor nodes. The usage of IPv6 on WSNs has the potential of enabling the integration of sensing applications with the Internet and, if end to end security is properly addressed, can represent a major contribution towards the "internet of things".