SUMMARYIn this article, performance of delay-sensitive traffic in multi-layered satellite Internet Protocol (IP) networks with on-board processing (OBP) capability is investigated. With OBP, a satellite can process the received data, and according to the nature of application, it can decide on the transmission properties. First, we present a concise overview of relevant aspects of satellite networks to delay-sensitive traffic and routing. Then, in order to improve the system performance for delay-sensitive traffic, specifically Voice over Internet Protocol (VoIP), a novel adaptive routing mechanism in two-layered satellite network considering the network's real-time information is introduced and evaluated. Adaptive Routing Protocol for Quality of Service (ARPQ) utilizes OBP and avoids congestion by distributing traffic load between medium-Earth orbit and low-Earth orbit layers. We utilize a prioritized queueing policy to satisfy qualityof-service (QoS) requirements of delay-sensitive applications while evading non-real-time traffic suffer low performance level. The simulation results verify that multi-layered satellite networks with OBP capabilities and QoS mechanisms are essential for feasibility of packet-based high-quality delay-sensitive services which are expected to be the vital components of next-generation communications networks.