Policy-based routing of packets over a peer-to-peer, quality of service connection includes sending a connection setup request, over a control connection to a connection establishing device, to dynamically establish the peer-to-peer, quality of service connection between a source peer implemented on at least one device and a destination peer implemented on at least one device. Packets originating from an application requiring a specified level of service are transmitted, from the source peer implemented on at least one device, over the peer-to-peer, quality of service connection. Packets originating from an application that does not require the specified level of service are transmitted, from the source peer implemented on at least one device, over a best effort connection.