The Internet of Things refers to a network of interconnected devices, objects, and systems, that can interact with one another without human intervention. The adoption of IoT technology has expanded rapidly, significantly impacting various fields, including smart healthcare, intelligent transportation, agriculture, and smart homes. This paper focuses on smart street lighting, which represents the core piece of the smart city and the key public service for citizens’ safety. Nevertheless, it poses substantial challenges related to energy consumption, especially during energy crises. This work aims to provide an advanced solution that enables intelligent control of street lighting, enhances human safety, reduces CO2 emissions and light pollution, and optimizes energy consumption, as well as facilitates maintenance of the lighting network. The solution is twofold: First, it introduces IoT-based smart street lighting referential models; second, it presents a framework for controlling smart street lighting based on the referential models. The proposal uses an IoT-based fuzzy multi-agent systems approach to address the challenges of smart street lighting. The approach leverages the strengths and properties of fuzzy logic and multi-agent systems to address the system requirements. This is illustrated through a testbed case study conducted on a concrete IoT prototype.