Current work in routing protocols for delay and disruption tolerant networks leverage epidemic-style algorithms that trade off injecting many copies of messages into the network for increased probability of message delivery. However, such techniques can cause a large amount of contention in the network, increase overall delays, and drain each mobile node's limited battery supply. We present a new DTN routing algorithm, called Encounter-Based Routing (EBR), which maximizes delivery ratios while minimizing overhead and delay. Furthermore, we present a means of securing EBR against black hole denial-of-service attacks. EBR achieves up to a 40% improvement in message delivery over the current state-of-the-art, as well as achieving up to a 145% increase in goodput. Also, we further show how EBR outperforms other protocols by introduce three new composite metrics that better characterize DTN routing performance.