The Internet of Things (IoT) is a rapidly evolving field that provides seamless connections to a physical object, making it part of a smart environment. To fully realize the potential power of the connections between these objects in IoT, trust between them is critical. Conventional security measures are not sufficient to provide comprehensive security for this smart world. Trust is used to reduce the risk of insecurity when nodes are connected to the Internet. In an IoT environment, various trust models have been proposed for Wireless Sensor Networks (WSNs) and Radio Frequency Identification (RFID). Nevertheless, these are not fully adapted to the dynamic and uncertain environment of the intelligent IoT. Therefore, this article reviews the characteristics of recent works in IoT trust models. A comprehensive study has been conducted on the classification of trust models. A set of factors are discussed, such as trust characteristics, trust architecture, trust distribution, trust aggregation technique, trust model type, and attack type. In addition, this paper provides readers with an understanding of the current existing trust model and directs future works to propose new models that satisfy all characteristics that should be considered when developing a trust model. Finally, some research challenges and directions are identified.INDEX TERMS Internet of Things, wireless sensor network, radio frequency identification, trust model.