Recently, with the rapid development of data and information, it has become necessary to establish secure communications and appropriate security services to ensure a secure information exchange process. Therefore, to protect the privacy and confidentiality of private data, in this research, we use the Lorenz chaotic system to generate chaotic signals and apply them to the encryption of the communication of the Internet of Things (IoT) terminal sensor nodes. In addition, we design a simple proportional-integral-derivative (PID) controller and a quasi-sliding mode controller (QSMC) to synchronize the master-slave chaotic systems for decrypting the signals. Then, we encrypt the environmental signals measured from the IoT node at the transmitting side (master) and send them to the receiving side (slave). After the receiving side receives the encrypted signals, it decrypts them with the PID controller. Thus, the security of IoT information can be assured and realized.