The Internet of Vehicles (IoV) improves traffic efficiency and enhances driving safety through the real-time collection and analysis of traffic-related data. Numerous secure and privacy-preserving communication protocols have been proposed for the IoV. However, various security threats, privacy leakage, and inefficient communications remain unaddressed. Therefore, a lightweight and secure multi-message multi-receiver certificateless signcryption (LS-MRCLSC) scheme based on elliptic curve cryptography (ECC) is proposed. The proposed scheme guarantees secure communication and promotes messaging efficiency with multi-cast mode. Multiple key generation centers (KGCs) collaborate to generate and update the system master key (SMK) using Feldman’s verifiable secret-sharing (FVSS) algorithm, avoiding the single point of failure (SPoF) problem. Formal security proofs under the random oracle model (ROM) demonstrate that the proposed scheme meets requirements such as data confidentiality, message unforgeability, anonymity, and unlinkability. Performance evaluations confirm that the LS-MRCLSC scheme is better than similar schemes in terms of efficiency, feasibility, and scalability.