With the rapid popularization of current Internet of Things (IoT) technology and 5G networks, as well as the continuous updating of new service lifestyles and businesses, the era of big data processing for the IoT has arrived. However, centralizing all data for processing in the cloud can lead to issues such as communication latency and privacy breaches. To solve these problems, edge computing, as a new network architecture close to terminal data sources and supporting low latency services, has gradually emerged. In this context, cloud edge collaborative computing has become an important network architecture. With the changing security requirements and communication methods of cloud edge collaborative network architecture, traditional authentication key agreement protocols are no longer applicable. Therefore, a new IoT authentication and key agreement protocol needs to be designed to solve this problem. This study proposes an IoT accessible solution for cloud edge collaboration. This scheme adopts a chaotic mapping algorithm to achieve efficient authentication. It ensures the anonymity and untraceability of users. Following this, we conducted strict security verification using BAN logic and Scyther tools. Through experimental comparative analysis, the research results show that the protocol performs better than other schemes while ensuring security. This indicates that the protocol can achieve efficient authentication and key negotiation in cloud edge collaborative network architecture, providing a secure and reliable solution for the accessibility of the IoT.