Routing protocols for wireless sensor networks must address the challenges of reliable packet delivery at increasingly large scale and highly constrained node resources. Attempts to limit node state can result in undesirable worst-case routing performance, as measured by stretch, which is the ratio of the hop count of the selected path to that of the optimal path. We present a new routing protocol, Small State and Small Stretch (S4), which jointly minimizes the state and stretch. S4 uses a combination of beacon distance-vector based global routing state and scoped distance-vector based local routing state to achieve a worst-case stretch of 3 using O (