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The growth of different types of applications in the Internet arises the need for supporting Quality of Service (QoS) for them. Differentiating services aims to differentiate among applications in order to provide their requirements based on the level of QoS they need and their characteristics. In this paper we introduce a dynamic QoS-Aware queuing algorithm to differentiate services in IP based networks, which consists of a packet-by-packet dynamic classification algorithm and a weighted round robin scheduling algorithm. The proposed dynamic QoS-aware queuing provides the QoS required for delay sensitive applications and improves the performance of the system, meaning satisfying more users. Plus, the algorithm is capable of providing a satisfactory fairness among flows. The main advantage of the algorithm is its ability to dynamically adapt its parameters to the changes in the network.