ABSTRACTInternet of Things (IoT) has evolved into a new era of information and communication technology where several day‐to‐day usable physical objects have been interconnected to form an intelligent ad‐hoc network that is deployed into various hostile environments to monitor, gather and process the surveillance data. However, there is a huge potential gap between communication in traditional wired network and wireless IoT network. IoT network is susceptible to several security threats due to their distributed and decentralized architecture, open nature of communication channel, dynamic nodal infrastructure, high possibilities of malicious penetrations, and so forth. In this scenario, a secure, efficient, and lightweight remote user authentication and key agreement scheme can play a significant role to mitigate the above‐mentioned issues and to provide well‐protected communication between the communicating entities in the IoT environment. Therefore in this paper, we have proposed a provable secure, robust and lightweight biometric‐enabled mutual authentication scheme for a multi‐gateway IoT environment using an irreversible hash function and fuzzy extractor. To support our claim, we have formally verified our scheme using the broadly accepted Random Oracle Model (ROM) and further simulated using the widely used AVISPA simulation tool. Additionally, the performance analysis in terms of computation and communication overheads of the proposed scheme is compared with other existing relevant authentication schemes that clearly shows that the proposed protocol maintains an acceptable efficiency security trade‐off for implementation in real‐life scenarios.