Internet of things (IoT) is considered as a collection of heterogeneous devices, such as sensors, Radio-frequency identification (RFID) and actuators, which form a huge network, enabling non-internet components in the network to produce a better world of services, like smart home, smart city, smart transportation, and smart industries. On the other hand, security and privacy are the most important aspects of the IoT network, which includes authentication, authorization, data protection, network security, and access control. Additionally, traditional network security cannot be directly used in IoT networks due to its limitations on computational capabilities and storage capacities. Furthermore, authentication is the mainstay of the IoT network, as all components undergo an authentication process before establishing communication. Therefore, securing authentication is essential. In this paper, we have focused on IoT security particularly on their authentication mechanisms. Consequently, we highlighted enormous attacks and technical methods on the IoT authentication mechanism. Additionally, we discussed existing security verification techniques and evaluation schemes of IoT authentication. Furthermore, analysis against current existing protocols have been discussed in all parts and provided some recommendation. Finally, the aim of our study is to help the future researcher by providing security issues, open challenges and future scopes in IoT authentication.