The trustworthiness of a system is not just about proving the identity or integrity of the hardware but also extends to the data, control, and management planes of communication between devices and the software they are running. This trust in data and device integrity is desirable for Internet of Things (IoT) systems, especially in critical environments. In this study, we developed a security framework, IoTAttest, for building IoT systems that leverage the Trusted Platform Module 2.0 and remote attestation technologies to enable the establishment of IoT devices’ collected data and control plan traffic integrity. After presenting the features and reference architecture of IoTAttest, we evaluated the privacy preservation and validity through the implementation of two proof-of-concept IoT applications that were designed by two teams of university students based on the reference architecture. After the development, the developers answered open questions regarding their experience and perceptions of the framework’s usability, limitations, scalability, extensibility, potential, and security. The results indicate that IoTAttest can be used to develop IoT systems with effective attestation to achieve device and data integrity. The proof-of-concept solutions’ outcomes illustrate the functionalities and performance of the IoT framework. The feedback from the proof-of-concept developers affirms that they perceived the framework as usable, scalable, extensible, and secure.