In this paper, a novel chaos-based dynamic encryption scheme with a permutation-substitution structure is presented. The S-boxes and P-boxes of the scheme are constructed with chaotic transformation and Rubik cube-based permutation to enrich the security, sensitivity, and robustness of the scheme. We use chaotic map and Feistel network to generate our block cipher. The purpose of using a Feistel network is to do encryption and decryption with the same structure. Due to using chaotic systems in our design, the required rounds of Feistel structure are only seven rounds which are less than the number of rounds for encryption algorithms, and, it would be helpful to improve the efficiency of our design. We made this block cipher fully dynamic, to achieve enhanced security and efficiency. Our design consists of a 192-bit block cipher and 8 x 8-bit S-box which due to chaotic systems is created simple and secure. We studied and tested our scheme with security analyses such as algorithm evalustion, correlation coefficients, histogram, plain text analysis, NPCR, key sensitivity, UACI, and key space analysis and corresponding results are given in detail. The results of simulation and analysis show that the proposed block-cipher encryption scheme provides a secure and efficient encryption.