Systems and methods to select peered border elements for a communication session based on Quality-of-Service (QoS) are disclosed. In particular, an example method includes determining a composite QoS parameter of a communication session based on weighting QoS parameters of the session, the QoS parameters including a grade of service parameter of the session and a preferred mode of communication for a voice over Internet protocol (VoIP) device of a called party; querying a telephone number mapping server for a status of each of the peered border elements; assigning the session to be handled by a selected peered border element of the peered border elements based on the composite QoS parameter and the status of each of the peered border elements; and generating a QoS authorization token to reserve network resources associated with the selected peered border element.