The importance of the Internet of Things (IoT) has increased significantly in recent years, and IoT devices are being used in many different industries and types of applications, such as smart homes, industrial sensors, autonomous vehicles, personal wearables, and more. While this brings technology innovation, new user experiences, and new business solutions, it also raises important concerns related to information security and privacy. In this work we present EdgeSec Framework, a new IoT security framework, made concrete as a security solution for ContextNet and Mobile-Hub middlewares. Its main goal is to extend and improve on an existing security architecture and implementation, creating a more generic, robust, and flexible solution that ensures authentication, authorization, data integrity and confidentiality. The framework was designed with full extensibility in mind by introducing protocol interfaces that can be implemented by external plugins, making it compatible to a variety of security algorithms and edge devices. A complete implementation was developed as proof-of-concept, and performance tests and experiments were made to evaluate the feasibility of the solution. Results show that EdgeSec framework can greatly improve the security of Mobile-Hub and similar IoT middlewares by increasing its compatibility and flexibility, and ensuring all the basic security protections.