The limited bandwidth and frequent topology changes coupled with the existence of node heterogenity makes the end-to-end support for Quality of Service (QoS) guarantees more difficult in Mobile Ad hoc Networks (MANETs) than in other types of networks. QoS routing is the key sstep toward supporting end-to-end QoS guarentees in heterogeneous MANETs. In this paper, we propose a QoS routing protocol, called Quality Virtual Routing (QVR), for heterogeneous MANETs. QVR operates on a fixed virtual recilinear architecture (called virtual grid architecture) that is built on top of the physical topology. The virtual grid consists of a few, but possibly more powerful, mobile nodes known as ClusterHeads (CHs) that are elected periodically. CHs discover multiple QoS routes on the virtual grid using an extended version of th eOpen Shortest Path First (OSPF) routing protocol and an extended version of WFQ scheduling policy that takes into account the wireless channel state. Simulation experiments show that QVR has a good performance in terms of packet delivery ratio end-to-end packet delay, call blocking probability, and network scalability.