Internet of Things offers user interoperability and connectivity between devices, systems, services, networks and in particularly control systems. This paper details the design and development of IoT based security surveillance system using Raspberry Pi Single Board Computer (SBC) with Wi-Fi network connectivity. Adding wireless fidelity to embedded systems will open up various feasibilities such as worldwide monitoring and control, reliable data storage etc. This system comprises of sensor nodes and a controller section for surveillance. Remote user alerts, video streaming and portability are the prime features of the system. Wi-Fi enabled microcontroller processes the sensor-based events upon receiving the event notification, the controller enables the camera for capturing the event, alerts the user via email and SMS and places the video of event on client mail. Raspberry Pi eliminates the need of a wireless transceiver module in sensor node, thus it makes the node compact, cost effective and easy to use. The biggest advantage of the system is that the user can seek surveillance from anywhere in the world and can respond according to the situations.