The enforcement of fine-grained access control policies in constrained dynamic networks can become a challenging task. The inherit constraints present in those networks, which result from the limitations of the edge devices in terms of power, computational capacity and storage, require an effective and efficient access control mechanism to be in place to provide suitable monitoring and control of actions and regulate the access over the resources. In this article, we present RESPOnSE, a framework for the specification and enforcement of security policies within such environments, where the computational burden is transferred to high-tier nodes, while low-tier nodes apply risk-aware policy enforcement. RESPOnSE builds on a combination of two widely used access control models, Attribute-Based Access Control and Role-Based Access Control, exploiting the benefits each one provides. Moreover, the proposed mechanism is founded on a compensatory multicriteria decision-making algorithm, based on the calculation of the Euclidean distance between the run-time values of the attributes present in the security policy and their ideal values, as those are specified within the established policy rules.