Mobility-aware quality of service (QoS) signaling is crucial to provide seamless multimedia services in the ambient environment where mobile nodes may move frequently between different wireless access networks. The mobility of an IP-based node in ambient networks affects routing paths, and as a result, can have a significant impact on the operation and state management of QoS signaling protocols. In this paper, we first analyze the impact of mobility on QoS signaling protocols and how the protocols operate in mobility scenarios. We then propose an efficient mobility-aware QoS signaling protocol which can operate adaptively in ambient networks. The key features of the protocol include the fast discovery of a crossover node where the old and new paths converge or diverge due to handover and the localized state management for seamless services. Our analytical and simulation/experimental results show that the proposed/implemented protocol works better than existing protocols in the IP-based mobile environment.