Internet of vehicles supports to transfer of safety-related messages, which help to mitigate road accidents. Internet of vehicles allows vehicle to cooperative communicate, share position and speed data among vehicles and road side units. The vehicular network become prone to large number of attacks including false warnings, mispositioning of vehicles etc. The authentication of messages to identify the normal message packet from attack messages packet and its prevention is a major challenging task. This paper focuses on applying deep learning approach using binary classification to classify the normal packets from malicious packets. The process starts with preparing the training dataset from the open-source KDD99 and CICIDS 2018 datasets, consisting of 1,20,223 network packets with 41 features. The one-dimensional network data is preprocessed using an autoencoder to eliminate the unwanted data in the initial stage. The valuable features are then filtered as 23 out of 41, and the model is trained with structured deep neural networks, then combined with the Softmax classifier and Relu activation functions. The proposed Intrusion prevention model is trained and tested with google Colab, an open platform cloud service, and the open-source tensor flow. The proposed prevention classifier model was validated with the simulation dataset generated in network simulation. The experimental results show 99.57% accuracy, which is the highest among existing RNN and CNN-based models. In the future, the model can be trained on different datasets, which will further improve the model's efficiency and accuracy.