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This research paper states the design and implementation of wireless sensor and actuator network for the specific task of automating drip irrigation systems in urban gardens. The designed wireless sensor and actuator network consists of coordinator device and end-devices. Each end-device is equipped with soil moisture level sensor and actuator. End-devices measure the soil moisture level and based on the measured value open or close the dripping actuator. Furthermore, end-devices transmit the measured values to coordinator wirelessly through radio-module in every hour. Coordinator device collect data from every end-device with the use of radio-module and send it to user interface through Wi-Fi module. Wireless communication between coordinator and end-devices are executed by ZigBee wireless technology. Each end-device is powered up by three AA-size back-up batteries. Key Word: Automation, wireless sensor and actuator network, drip irrigation, ZigBee