The rapid development of technology has made the Internet of Things an integral element of modern society. Modern Internet of Things’ implementations often use Fog computing, an offshoot of the Cloud computing that offers localized processing power at the network’s periphery. The Internet of Things serves as the inspiration for the decentralized solution known as Fog computing. Features such as distributed computing, low latency, location awareness, on-premise installation, and support for heterogeneous hardware are all facilitated by Fog computing. End-to-end security in the Internet of Things is challenging due to the wide variety of use cases and the disparate resource availability of participating entities. Due to their limited resources, it is out of the question to use complex cryptographic algorithms for this class of devices. All Internet of Things devices, even those connected to servers online, have constrained resources such as power and processing speed, so they would rather not deal with strict security measures. This paper initially examines distributed Fog computing and creates a new authentication framework to support the Internet of Things environment. The following authentication architecture is recommended for various Internet of Things applications, such as healthcare systems, transportation systems, smart buildings, smart energy, etc. The total effectiveness of the method is measured by considering factors such as the cost of communication and the storage overhead incurred by the offered integrated authentication protocol. It has been proven that the proposed technique will reduce communication costs by at least 11%.