The rapid development of Vehicular Ad-hoc Network (VANETs) has improved road safety and traffic management, and brought great convenience to intelligent transportation system (ITS). However, the transmission of data over open channels caused many security issues. Certificateless cryptography solves the certificate management and key escrow problems, which makes it the primary method for message authentication in VANETs. However, with the emergence of quantum computing, traditional cryptography faces a significant challenge. Lattice-based cryptography are regarded as effective post-quantum ciphers. Nevertheless, nearly all existing lattice-based certificateless signature schemes rely on Gaussian sampling or trapdoor techniques, resulting in computational inefficiencies and large key and signature sizes that are impractical for VANETs. To address these issues, we proposed the first efficient algebraic lattice-based certificateless signature scheme in VANETs based on the Dilithium signature algorithm. The security of our certificateless lattice-based signature(CLLS) scheme is based on the MSIS and MLWE hardness assumption, which makes the scheme resistant to quantum attacks and easy to implement. Our scheme did not use Gaussian sampling or trapdoor techniques, which improve the computational and storage efficiency. As a result, the public key of our scheme is 1X smaller than the previous scheme and the size of signature is 2X smaller than the previous efficient algebraic lattice scheme. In addition, compared to the most efficient existing CLLS scheme, the signing and verification computation cost of our scheme are reduced by 20% and 55% respectively and our proposed CLLS scheme has low power consumption. Furthermore, the security of our scheme achieves strong unforgeability against chosen-message attacks(SUF-CMA) in the random oracle model(ROM), which surpasses that of existing lattice-based certificateless signature schemes.