Securing routing layer functions in mobile ad hoc networks is an important issue, which includes many challenges like how to enhance detection accuracy when facing the highly dynamic characteristic of such networks, and how to distinguish malicious accusations under a totally autonomous structure. In this paper, we propose Distributed Court System (DCS), a complete Intrusion Detection System that intends to solve these challenges in a low-cost and robust way. We do not deploy any centralized entity, but rely on the collaboration among the nodes neighbouring the suspected node, to integrate information, improve the detection accuracy, and reject dissemination of malicious accusation. Through mathematical analysis and simulation, the proposed DCS is proved to be effective in a highly mobile and hostile network environment.