SummaryNowadays, seamless roaming service in heterogeneous wireless networks attracts more and more attention. When a mobile user roams into a foreign domain, the process of secure handover authentication and key exchange (AKE) plays an important role to verify the authenticity and establish a secure communication between the user and the access point. Meanwhile, to prevent the user's current location and moving history information from being tracked, privacy preservation should be also considered. However, existing handover AKE schemes have more or less defects in security aspects or efficiency. In this paper, a secure pairing‐free identity‐based handover AKE protocol with privacy preservation is proposed. In our scheme, users' temporary identities will be used to conceal their real identities during the handover process, and the foreign server can verify the legitimacy of the user with the home server's assistance. Besides, to resist ephemeral private key leakage attack, the session key is generated from the static private keys and the ephemeral private keys together. Security analysis shows that our protocol is provably secure in extended Canetti‐Krawczyk (eCK) model under the computational Diffie‐Hellman (CDH) assumption and can capture desirable security properties including key‐compromise impersonation resistance, ephemeral secrets reveal resistance, strong anonymity, etc. Furthermore, the efficiency of our identity‐based protocol is improved by removing pairings, which not only simplifies the complex management of public key infrastructure (PKI) but also reduces the computation overhead of ID‐based cryptosystem with pairings. It is shown that our proposed handover AKE protocol provides better security assurance and higher computational efficiency for roaming authentication in heterogeneous wireless networks.