Since the sensor nodes are subject to faults due to the highly-constrained resources and hostile deployment environments, fault management in wireless sensor networks (WSNs) is essential to guarantee the proper operation of networks, especially routing. In contrast to existing fault management methods which mainly aim to be tolerant to faults without considering the fault type, we propose a novel efficient fault-aware routing method where faults are classified and dealt with accordingly. More specifically, we first identify each fault and then try to set up the new routing path according to the fault type. Our proposed method can be easily integrated with any kind of existing routing method. We show that our proposed method outperforms AODV, REAR, and GPSR, which are the representative works of single-path routing, multipath routing and location based routing, in terms of energy efficiency and data delivery ratio.