WPA encryption (TKIP) is fairly secure. Researchers have recently been able to
half-crack TKIP, but it's not something that is widely done yet. If your devices support WPA2 it would be a more secure option as it uses AES/CCMP encryption.
As far as "secureness" they are pretty close, but work a bit differently. With the WPA2 specification it was decided to switch to AES since it was the encryption standard of NIST.
Both are more secure than WEP by far - it has been cracked in under a minute.