With the continuous development of autonomous vehicles, telemedicine, digital media and other time-sensitive applications, a soaring number of network services have high demand for the quality of service (QoS) with extra low delay and jitter. Traditional network architecture only offers best-effort services which cannot meet the stringent delay and jitter requirements. In this paper, we propose a resilient-priority queue scheduling algorithm (RPQ) for delay-sensitive services. RPQ can guarantee stable delay in a fine-grained manner. Particularly, on the premise of meeting the delay requirements of high priority streams, RPQ can give consideration to the delay requirements of lower priority streams depending on its resilient scheduling mechanism. We implement RPQ on programmable switch. The experimental results show that RPQ not only guarantees QoS with low delay and low jitter for delay-sensitive streams but also improves network throughput by comparing with the existing solutions, i.e., SP-PIFO and WRR.