In this paper, we propose a new energy-efficient and QoS-aware geographic routing (EQGR) protocol for wireless sensor networks. EQGR maximizes the network lifetime and uses optimum cost function to select the best neighbor node. For minimizing inter-node and intra-node timeliness, we use two neighbor information routing tables for reliability and real-time domains. To minimize the queue waiting time for time-sensitive packets, scheduling policy considers different priorities for different types of data according to their criticality. Simulation results show that EQGR can achieve reliable data forwarding with energy-efficiency, low missed-deadline data delivery, low end-to-end latency, and extremely low control signal overhead.