Considering existing eavesdroppers, this paper analyzes the secrecy outage probability (SOP) of the full-duplex (FD) relaying network with imperfect channel state information (CSI), where the decode-and-forward relay protocol is adopted. To enhance the physical-layer security, two relay selection schemes are proposed. The first scheme uses the maximum-minimum principle to select the optimal relay. The other selection scheme is based on partial signal-to-interference-plus-noise ratio. Then, the tight closed-form approximations of the SOP are obtained for three special CSI cases, respectively. Moreover, based on these approximated results, the effects of some system parameters are analyzed for the SOP of the relay system, including the CSI error, the number of relays, the signal-to-noise ratio (SNR) of the eavesdropper, and the residual self-interference caused by the FD model. The numerical results show that at low SNR of the eavesdropper, residual self-interference has a significantly impact on SOP, while at high SNR of the eavesdropper, this effect is negligible. In addition, the SOP of FD model is always superior to the half-duplex (HD) model when the number of relays changes.