An effective Ant-Colony based routing algorithm for mobile ad-hoc network is proposed in this paper. In this routing scheme, each path is marked by path grade, which is calculated from the combination of multiple constrained QoS parameters such as the time delay, packet loss rate and bandwidth, etc. packet routing is decided by the path grade and the queue buffer length of the node. The advantage of this scheme is that it can effectively improve the packet delivery ratio and reduce the end-to-end delay. The simulation results show that our proposed algorithm can improve the packet delivery ratio by 9%-22% and the end-to-end delay can be reduced by 14%-16% as compared with the conventional QAODV and ARA routing schemes.