An Internet of Things (IoT) system for managing and coordinating unmanned aerial vehicles (UAVs) has revolutionized the industrial sector. The largest issue with the design of the Internet of UAVs (IoUAV) is security. Conspicuously, the novel contribution of the proposed work is to develop a layered authentication approach to facilitate safe IoUAV communication. Specifically, four modules, including the pre-deployment module, user registration module, login module, and authentication module, form the basis of security analysis. In the proposed technique, UAVs are added to the IoUAV registry. The next step is the user registration module, where people are registered with the UAV so they may access the information in real time. In the login module, the user connects with the server for data transmission. Finally, in the authentication module, all entities, including users, servers, and UAVs, are authenticated to ensure secure data communication. The proposed method achieves peak performance as compared to the state-of-the-art techniques in terms of statistical parameters of latency (3.255s), throughput (90.15%), and packet loss (8.854%).