Localization of sensor nodes is very important for many applications proposed for wireless sensor networks (WSN), such as environment monitoring, geographical routing, and target tracking. Because sensor networks may be deployed in hostile environments, localization approaches can be compromised by many malicious attacks. The adversaries can broadcast corrupted location information; they can jam or modify the transmitting signals between sensors to mislead them to obtain incorrect distance measurements or nonexistent connectivity links. All these malicious attacks will cause sensors not able to or wrongly estimate their locations. In this chapter, we summarize the threat models and provide a comprehensive survey and taxonomy of existing secure localization and verification schemes for wireless sensor networks.