A Quality-of-Service (QoS) routing protocol is developed for mobile ad hoc networks. It can establish QoS routes with reserved bandwidth in a network employing TDMA. An efficient algorithmfor calculating the end-to-end bandwidth on a path is developed and usedtogether with the route discovery mechanism of AODV to setup QoS routes.Simulations show that the QoS routing protocol can produce higher throughputand lower delay than its best-effort counterpart.