Existing identity-based schemes utilized in Vehicular Ad hoc Networks (VANETs) rely on roadside units to offer conditional privacy-preservation authentication and are vulnerable to insider attacks. Achieving rapid message signing and verification for authentication is challenging due to complex operations, such as bilinear pairs. This paper proposes a secure pseudonym-based conditional privacy-persevering authentication scheme for communication security in VANETs. The Elliptic Curve Cryptography (ECC) and secure hash cryptographic function were used in the proposed scheme for signing and verifying messages. After a vehicle receives a significant amount of pseudo-IDs and the corresponding signature key from the Trusted Authority (TA), it uses them to sign a message during the broadcasting process. Thus, the proposed scheme requires each vehicle to check all the broadcasting messages received. Besides, in the proposed scheme, the TA can revoke misbehaving vehicles from continuously broadcasting signed messages, thus preventing insider attacks. The security analysis proved that the proposed scheme fulfilled the security requirements, including identity privacy-preservation, message integrity and authenticity, unlinkability, and traceability. The proposed scheme also withstood common security attacks such as man-in-the-middle, impersonation, modification, and replay attacks. Besides, our scheme was resistant against an adaptive chosen-message attack under the random oracle model. Furthermore, our scheme did not employ bilinear pairing operations; therefore, the performance analysis and comparison showed a lower resulting overhead than other identity-based schemes. The computation costs of the message signing, individual signature authentication, and batch signature authentication were reduced by 49%, 33.3%, and 90.2%, respectively.